There is no picture, just these 4 questions

Give the configuration space (using the notation of R and S) for the following robots. Use a configuration space of minimum possible dimension. Explain your answers (a) A robot manipulator with 1 spherical joint and 2 prismatic joints. (b) A robot manipulator with 6 revolute joints and 1 prismatic joint. (c) A robot composed of two disconnected parts, each of which can be modeled as a holonomic point robot capable of translating (but not rotating) on the plane (d) A robot on a track, like a roller coaster. Note: do not consider wheel angles, speed, or dynamics. Give the configuration space (using the notation of R and S) for the following robots. Use a configuration space of minimum possible dimension. Explain your answers (a) A robot manipulator with 1 spherical joint and 2 prismatic joints. (b) A robot manipulator with 6 revolute joints and 1 prismatic joint. (c) A robot composed of two disconnected parts, each of which can be modeled as a holonomic point robot capable of translating (but not rotating) on the plane (d) A robot on a track, like a roller coaster. Note: do not consider wheel angles, speed, or dynamics