Question: Assign the coordinate frames and write the forward kinematic equation for the 6 dof manipulator for the shown vertical home position ( figure 4 )

Assign the coordinate frames and write the forward kinematic equation for the 6 dof manipulator for the shown vertical home position (figure 4), Write the equations for ,and(General Equations are sufficient - Matrix Expansion is not required).
Assign the coordinate frames and write the

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