“…where 𝛼 = 𝜃 1 + 𝜃 2 + 𝜃 3 = 30°+ 30°+ 30°= 90° and chosen that (𝑣 𝑥 , 𝑣 𝑦 , 𝑣 𝑧 ) = (1,0,0), is shows that the initial position of the robot is in (1,0,0), respectively in 3D Cartesian coordinate, after the rotation 𝜃 1 , 𝜃 2 , 𝜃 3 , based on (7), the rotation component of end effector in this case is (0,1,0). Metode quaternion that used in this analyze is to find the rotation component of end effector, in this case, depend on the 𝜃 1 , 𝜃…”