FORWARD KINEMATIC MATLAB CODE $\%$Forward Kinematics for Dobot Magician

$\%$Define D$-$H parameters $[$theta$,$d$,$a$,$alpha$]$for each joint

L$1=$Link$([0,0\mathrm{.}1,0,$pi$/2,0])$;$\%$Joint $1$

L$2=$Link$([0,0,0\mathrm{.}2,0,0])$;$\%$Joint $2$

L$3=$Link$([0,0,0\mathrm{.}2,0,0])$;$\%$Joint $3$

L$4=$Link$([0,0\mathrm{.}1,0,$pi$/2,0])$;$\%$Joint $4$

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$\%$Create the robot model

dobot $=$SerialLink$([$L$1,$L$2,$L$3,$L$4],\text{'}$name$\text{'},\text{'}$Dobot Magician'$)$;

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$\%$Display the robot model

dobot.display$()$;

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$\%$Forward kinematics: compute the transformation matrix for given joint angles

q $=[$pi$/4,$pi$/6,-$pi$/4,$pi$/6]$;$\%$Example joint angles

T $=$dobot$.$fkine$($q$)$;

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$\%$Output the transformation matrix

disp$(\text{'}$Forward Kinematics Transformation Matrix:$\text{'})$;

disp$($T$)$;

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$\%$Plot the robot

dobot.plot$($q$)$; INVERSE KINEMATIC MATLAB CODE: $\%$Inverse Kinematics for Dobot Magician

$\%$Define the target end$-$effector pose $($example$)$

target$\_$pose $=$transl$(0\mathrm{.}3,0\mathrm{.}1,0\mathrm{.}2)*$trotx$($pi$/4)$;

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$\%$Solve for joint angles using inverse kinematics

q$\_$sol $=$dobot$.$ikine$($target$\_$pose, 'mask', $[111000])$; $\%$Mask for positional IK

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$\%$Output the computed joint angles

disp$(\text{'}$Inverse Kinematics Joint Angles:$\text{'})$;

disp$($q$\_$sol$)$;

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$\%$Visualize the solution

dobot.plot$($q$\_$sol$)$; TRAJECTORY PLANNING MATLAB CODE: $\%$Trajectory Planning for Dobot Magician

$\%$Define start and end joint configurations

q$\_$start $=[0,0,0,0]$;

q$\_$end $=[$pi$/4,$pi$/6,-$pi$/4,$pi$/6]$;

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$\%$Define the trajectory

steps $=100$;

traj $=$jtraj$($q$\_$start, q$\_$end, steps$)$;

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$\%$Plot the trajectory

figure;

dobot.plot$($traj$)$;

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$\%$Optional: Plot joint trajectories

figure;

plot$($traj$)$;

xlabel$(\text{'}$Steps$\text{'})$;

ylabel$(\text{'}$Joint Angles $($rad$)\text{'})$;

title$(\text{'}$Joint Trajectories'$)$;

legend$(\text{'}$Joint $1\text{'},\text{'}$Joint $2\text{'},\text{'}$Joint $3\text{'},\text{'}$Joint $4\text{'})$;

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$$Provide the screenshot of the output for each matlab code. Need table of DH parameter.