Question: Consider the two link planar manipulator shown below with a revolute joint and a prismatic joint. Assign the coordinate frames following DH convention. Derive the

Consider the two link planar manipulator shown below with a revolute joint and a prismatic joint. Assign
the coordinate frames following DH convention. Derive the 4 parameters for all the frames and express
them in a table. Derive the forward kinematic equations using DH convention - i.e., find the
homogeneous transformation matrix between frame 2 and 0:T20 using the DH parameters.
Consider the two link planar manipulator shown

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