Question: Consider the two-link Cartesian robot shown below. Derive the complete set of forward kinematic equations by establishing the appropriate DH coordinates frames, constructing a

Consider the two-link Cartesian robot shown below. Derive the complete set of forward kinematic equations by establishing the appropriate DH coordinates frames, constructing a table of DH parameters, forming the A matrices, and finding T = A A. Equation 3.10 Co-So Ca Sosa aco Co Ca 50. 0 A = Rote, Trans, Trans, Rota 0 d Ca 0

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