Question: 1. For the robot shown in Fig. 1: (a) Set up coordinate systems of all joints based on the procedure you observed in the class,

1. For the robot shown in Fig. 1: (a) Set up

1. For the robot shown in Fig. 1: (a) Set up coordinate systems of all joints based on the procedure you observed in the class, and then determine Denavit-Hartenberg parameters! (10) (b) Generate Homogenous Transformation for each joint and finally calculate T4 (20) (c) Then derive the Jacobian Matrix of the robot. 50) O1-0.1sin(0.05t) ai-0.3(m) 2 0.25(m d*-0.3(cos(0.02t)+sin(0.02t) 02-0.1sin(0.01t) 03-04sin(0.06t) as-0.1 (m) Figure 1: A 3D robot

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