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A polar manipulator. Determine the links transformation matrices T2, 2T3, and T3 for the polar manipulator shown in Figure

Transformation matrices I have are wrong. Please help me determine them. Thank you

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ry3 Y TR 2T3, Tz dy Lozz.tz ruso sino sino Cosso [037 0.-3174 0 -sind 4 sint o cosy 2. from 1 solate, o about Z axis and . dcame. from (21 - 3) translation along . Z axis dg units .:!TZ modified cy 4x4. matrix. Translatim in a Ta o o 11 sino coso lo

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