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Given the 3R manipulator with coordinate frames shown and link lengths: L1 = 0.3 m, L2 0.2 m, L3 = 0.1 m, if the end effector is required to apply a wrench with Fx = 5 N, F, = 10N, and Tz = 2 Nm, at tip pose (x,y,y) = (0.3 m, 0.22 m, 1/2 rad) in the world

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Given the 3R manipulator with coordinate frames shown and link lengths: L1 = 0.3 m, L2 0.2 m, L3 = 0.1 m, if the end effector is required to apply a wrench with Fx = 5 N, F, = 10N, and Tz = 2 Nm, at tip pose (x,y,y) = (0.3 m, 0.22 m, 1/2 rad) in the world
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