1. Figure (a) shows the Staubli 6R robot, with its zero configuration shown in Figure (b)....

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1. Figure (a) shows the Staubli 6R robot, with its zero configuration shown in Figure (b). Draw appropriate link reference frames, and derive the Denavit-Hartenberg parameters. STUBLI TX40 STUBLI (a) 6R open chain robot, tx40. H W {0} H 0 Z L X 8s {6} (b) Frame assignments in zero configuration. Z 1. Figure (a) shows the Staubli 6R robot, with its zero configuration shown in Figure (b). Draw appropriate link reference frames, and derive the Denavit-Hartenberg parameters. STUBLI TX40 STUBLI (a) 6R open chain robot, tx40. H W {0} H 0 Z L X 8s {6} (b) Frame assignments in zero configuration. Z

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The image you have provided shows a Staubli 6R robot and a diagram depicting its zero configuration with the reference frames assigned to each joint a... View the full answer