Question: For the SCARA type manipulator shown in Fig. 2, a. assign coordinate frames based on Danavit-Hartenberg (D-H) representation; b. fill out the parameters table;

For the SCARA type manipulator shown in Fig. 2, a. assign coordinate

For the SCARA type manipulator shown in Fig. 2, a. assign coordinate frames based on Danavit-Hartenberg (D-H) representation; b. fill out the parameters table; c. write all the A matrices; d. write the final "THmatrix and calculate its elements dz XH da ZH Zu Figure 2 SCARA type manipulator. d3 Yu dz d

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