We will consider Example 3.5 in MLS (inverse kinematics of the elbow manipulator). Assume l0 = l = l = 1. And the desired pose of the end-effector is 0.5 Rz (0.2 rad) R (0.4 rad) 1.2 Id = Find all the inverse kinematics solutions. You will need to write a Matlab script with Matlab functions for each subproblem.