A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate...

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A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix for each link. d) Find the Forward kinematics of the robot. Parameters Values Units 04 li 0.4 m 12 0.1 m 13 + d3 13 0.6 m 12 14 0.05 m 9.7 kg m 02 01 4.864 kg m2 4 3.153 kg Zo yo m3 0.178 kg m4 A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix for each link. d) Find the Forward kinematics of the robot. Parameters Values Units 04 li 0.4 m 12 0.1 m 13 + d3 13 0.6 m 12 14 0.05 m 9.7 kg m 02 01 4.864 kg m2 4 3.153 kg Zo yo m3 0.178 kg m4