The last three links in a robot arm are arranged according to Euler angles rotations as follows. Rotation around z axis with an angle y , then rotation around x axis with an angle 0, then rotation around new z axis with an angle . a) Use the rotation matrix properties to fill in the unique solution of the missing terms in the following rotation matrix. b) Find all the possible solutions of Euler angles that lead to this rotation matrix. -0.77076 0.5296 R = -0.47082 -0.09889 - 0.87667