d$1=4$;L$1=6$;L$2=3$;d$3=9$;d$4=8$

Problem $1$:

Create the D$-$H table for the SCARA robot above with justification below the table describing the

order of your work and thought process for each entry.

Problem $2$:

Find the transformation matrix of the robot above using the D$-$H table and justifying your work.