The robot shown in Figure 2 is in its home position. The axes of motion are shown in the figure. A set of frames has been assigned for the derivation of its kinematics. (a) Complete the following table according to the D-H convention. Link -- d 1 2 3 (b) Derive the kinematics equation for the manipulator. (c) If the task space is defined by the end-effector's three coordinates (x,y,z), solve the inverse position kinematics for the manipulator. (d) Find the manipulator jacbian written in frame {0}. Ju Ju 4211