a) Create the DH table b) Use Matlab to find the forward kinematics matrix and test it for home position as well as one other position that is easy to determine by inspection. (Attach your Matlab work with evaluation comments of the results.) dy d, = 1.5, d2=0.1, d.-20, d.-1.25 a) Create the DH table b) Use Matlab to find the forward kinematics matrix and test it for home position as well as one other position that is easy to determine by inspection. (Attach your Matlab work with evaluation comments of the results.) dy d, = 1.5, d2=0.1, d.-20, d.-1.25