Question: Could you do the direct kinematics and parameter tables for this robot, based on the denavit - Hartenberg theorem? In any case, place the coordinate

Could you do the direct kinematics and parameter tables for this robot, based on the denavit-Hartenberg theorem? In any case, place the coordinate axis of each reference? remember that this is a PPPRRR robot
Could you do the direct kinematics and parameter

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