A) Prove that the tool Jacobian matrix of the 3R Planar robot (shown in the figure) is given by the matrix below: -LS-LS-LS123 - L₁₂S12-L3 123-35123] V(a)=49+L2 + L3G23 1 L₂G12 + L3G123 1 B) Find the singular configuration of the robot. ჩვ. L3C123 1 02 L2
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![A) Prove that the tool Jacobian matrix of the 3R Planar robot (shown in the
figure) is given by the matrix below:
-LS-LS-LS123 - L₁₂S12-L3 123-35123]
V(a)=49+L2 + L3G23
1
L₂G12 + L3G123
1
B) Find the singular configuration of the robot.
ჩვ.
L3C123
1
02 L2](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F2355d73a-d719-4a60-8906-40f664d98a16%2Fcf6550a4-7857-4cc1-b9f7-651614e82d02%2F5y84t4f_processed.jpeg&w=3840&q=75)
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