Question: Figure 2 shows a three - axis manipulator with three revolute joints. Note that 1 , 2 , and 3 are variables, while l 1

Figure 2 shows a three-axis manipulator with three revolute joints. Note that 1,2, and 3 are variables, while l1,l2 and l3 are constants. The associated Denavit-Hartenberg link parameters are shown in Table 2. Derive the forward kinematics matrices ?10H,?21H,?32H,?43H and ?40H.
Figure 2: Three axis manipulator
\table[[Axis,i-1,ai-1,i,di
Figure 2 shows a three - axis manipulator with

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