The above figure shows a 3DOF manipulator in its initial configuration with 3 revolute joints. Assume L1 > L2. (a) Describe the reachable workspace of the robot. (b) Use Paden-Kahan subproblems to solve the inverse kinematics problem for this manipulator. You do not need to write out the details of how you would find the exact solution for each subproblem. It suffices to indicate how you would break up the inverse kinematics problem into PK subproblems. Remember to clearly indicate which subproblem you are using in each step, and what conveniently chosen points you are using to make your reductions. (c) Indicate the maximum number of possible inverse kinematics solutions based on the sequence of subproblems you used in part (b)