The Jacobian matrix

      Consider the following sequence of rotations: (a) Rotate by (I) about the world x-axis. (b) Rotate by 0 about the world y-axis. (c) Rotate by (f) about the current x-axis. (d) Rotate by a about the world z-axis. Write the matrix product that will give the resulting rotation matrix (do not perform the matrix multiplication).   Derive the Jacobian matrix of a 2 DoF planar arm with link lengths L 1 and L2 by differentiating its forward kinematic equations. Consider a point P = (-2, -1, 0)T attached to a rotating frame, the frame rotates - 90 degrees about the Y-axis. Find the coordinates of the point relative to the reference frame after therotation. What is kinematic dccoupling List the steps for kinematic decoupling of a 6 DoF arm with a spherical wrist.