Question: Consider the figure below and answer the questions: a) Sketch it in a neat way b) Describe the 4 link manipulator c) Specify its

Consider the figure below and answer the questions: a) Sketch it in a neat way b) Describe the 4 link

Consider the figure below and answer the questions: a) Sketch it in a neat way b) Describe the 4 link manipulator c) Specify its DoF d) Specify and calculate its working volume e) Attach coordinates frames at each joint f) Use forward kinematics to describe the pose of its tip (end effector). g) Evaluate the homogeneous matrices manually and by MATLAB. Attach the code. 11 8 X L2 figure

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