Question: 1. Consider the following RRPP manipulator. Based on the given frame labels, fill in the Denavit-Hartenberg parameter table below. You can refer to page

1. Consider the following RRPP manipulator. Based on the given frame labels, fill in the Denavit-Hartenberg parameter table below. You can refer to page 47 of the Course Reader for the definition of the each of the 4 parameters enumerated in the table Note: In order to reduce visual clutter, we only draw the X and Z axes of each frame on 2D diagrams. The Y axis for each frame can be determined from these axes via the Right-Hand Rule d3 X3 (in) Z3 d4 X4 Zo, Z1 X2 02 X0,X1 30 Z2 (out) L 2 ai-1 ai-1 di Oi 1234 Z4

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