Question: 4-) Consider a manipulator for which DH parameter table is given as: ai-1 aj-1 di L1 01 2 -90 d2 3 90 L3 Calculate

4-) Consider a manipulator for which DH parameter table is given as:

4-) Consider a manipulator for which DH parameter table is given as: ai-1 aj-1 di L1 01 2 -90 d2 3 90 L3 Calculate angular velocity of the tool frame relative to the base frame expressed in the tool frame 3w3 and the that of expressed in base frame w3

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