Assignment:1) All prismatic manipulator is a simple manipulator. You can read its Jacobian matrix by inspecting the coordinates. Please derivate the Inverse Jacobian Matrix for this manipulator,...

Assignment:

1) All prismatic manipulator is a simple manipulator. You can read its Jacobian matrix by inspecting the coordinates. Please derivate the Inverse Jacobian Matrix for this manipulator, write them down on paper, and submit it by image file or word .docx, or .pdf files.Show all equations for the derivative functions

d1" class="formula-container wants-props-update">





d1" class="Wirisformula" role="img" alt="d subscript 1">


,

d2" class="formula-container wants-props-update">





d2" class="Wirisformula" role="img" alt="d subscript 2">


,

d3" class="formula-container wants-props-update">





d3" class="Wirisformula" role="img" alt="d subscript 3">


.Given the path equations.

2) Write a Python program to calculate a numerical result for this prismatic manipulator.All

a1" class="formula-container wants-props-update">





a1" class="Wirisformula" role="img" alt="a subscript 1">


,

a2" class="formula-container wants-props-update">





a2" class="Wirisformula" role="img" alt="a subscript 2">


,

a3" class="formula-container wants-props-update">





a3" class="Wirisformula" role="img" alt="a subscript 3">





can assume to be 1.

Submit .py or .zip file.