ELMC 2080: Introduction to Robotic Systems Homework Assignment #7: Forward Kinematics Problem 1: Find the position of the end effector of the 3-link robotic arm shown below using two methods. One method is via trigonometry. The other method is via homogeneous transformation. 55 25 20 20 15 10 5 C L₁ = 15 ₁ = 20° X -5 0 5 10 L₂ =15 02-30° 15 20 L3=15 Final Solution: 3 =-20° [36.73] [24.12] Students need to show detailed steps to get the credits. 25 30 30 35 55