Question: a . Create a DH matrix for this system using the following values. ( a 1 = 1 0 , a 2 = 5 ,

a. Create a DH matrix for this system using the following values. (a1=10, a2=5, a3=5, and a4=1) Show the axes for each frame. Show you thetas and their direction.
b. Find the location of the end-effector if the following thetas are used (theta1=45deg, theta2=90deg, theta3=180deg)
c. Find the joint thetas to orient the hand as follows:
a . Create a DH matrix for this system using the

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