Figure $5.$ Robot Arm for Problem $6.$

This robot has an offset in the shoulder joint that slightly complicates it forward kinematics. The joint coordinate frames have been added $($using DH convention$)$ in the figure to facilitate your task.

a$)$ Obtain the link parameters using the DH $-$Convention.

b$)$ Compute the transformation matrices following a$)$ above.

c$)$ Compute $\backslash ($ T$\_\{0\}^\{6\}\backslash ).$