8. Attach a spherical wrist to the three-link articulated manipulator of Prob- lem 3-6. as shown in Figure 3.29. Derive the forward kinematic equations for this manipulator. соедовс அ по od add bait sutal oils 11-8 msidor ut Fig. 3.29 Elbow manipulator with spherical wrist Fig. 3.26 Three-link planar arm with prismatic joint of Problem 3.6 From Problem 3.6 Fig. 3.27 Three-link articulated robot