Question: A 6 DOF ( P - R - P - R - R - R ) manipulator has been given for kinematics analysis. Find the

6

DOF

(

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)

manipulator has been given for kinematics analysis.

Find the forward kinematic model. Add the MATLAB script that you generated for this purpose. Explain every detail of your code. Do not skip any step or detail, report and explain everything.

Find the inverse kinematic model. Add the MATLAB script that you generated for this purpose. Explain every detail of your code. Do not skip any step or detail, report and explain everything.

A 6 DOF ( P - R - P - R - R - R ) manipulator has

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