Find the 3x3 Jacobian in frame {3}, ) that calculates the linear velocity of the tooltip from the three joint rates of the manipulator (Fig. 2a). The link lengths and frame assignments are given in Figure 2b. The Jacobian for the base frame (O) (fixed) is given as [(d₂ + L₂ + L₃)C, Si = (dz + L2 + L3)S-G0 0 Joint 2 Joint 3 (dz) Joint 1 (a) Fig. 2a Robot manipulator having three DOF (RPR) 2, 8, 82 L H Veh 2 22 LI (b) (c) Fig. 2(b,c) Link lengths and frame assignments. (Hints: Find rotation matrix R using the frame assignments and then find Jacobian in frame (3)
