(Solved): For a Cartesian-RPY robot, it is required that final orientation and position of the end-effector b ...

For a Cartesian-RPY robot, it is required that final orientation and position of the end-effector be given by the matrix: ${}^R{T}_P=?\begin{array}{cccc}{n}_x& o_x& a_x& p_x\\ n_y& o_y& a_y& p_y\\ n_z& o_z& a_z& p_z\\ 0& 0& 0& 1\end{array}?=?\begin{array}{cccc}0.7849& ?0.1478& 0.6018& 5\\ 0.4532& 0.7992& ?0.3948& 8\\ ?0.4226& 0.5826& 0.6943& 2\\ 0& 0& 0& 1\end{array}?$ a) Find the required values of displacements and joint variables to achieve this position and orientation. b) Find the required values of displacements and joint variables to achieve this position and orientation if a cylindrical-RPY robot is used.