The link parameters table of a RRP manipulator is given in the following Table, Frame No. ai 0 di 90 -90 0 di 5 0 d3+3 0 0: 02 0 2. 3 3 0 If 'Tz matrix is given as 'T, 0.7602 -0.5878 -0.2767 0.8972 0.5523 0.8090 -0.2010 0.6518 0.3420 0 0.9397 10.7245 0 0 0 1 1. Find the joint variables 01, 02 and ds. 2. Find To. The link parameters table of a RRP manipulator is given in the following Table, Frame No. ai 0 di 90 -90 0 di 5 0 d3+3 0 0: 02 0 2. 3 3 0 If 'Tz matrix is given as 'T, 0.7602 -0.5878 -0.2767 0.8972 0.5523 0.8090 -0.2010 0.6518 0.3420 0 0.9397 10.7245 0 0 0 1 1. Find the joint variables 01, 02 and ds. 2. Find To