Forward Kinematics

$1.$ The manipulator arm shown below has two revolute joints, with $\backslash (\backslash$mathrm$\{$L$\}\_\{1\}=0\mathrm{.}3\backslash$mathrm$\{$~m$\},\backslash$mathrm$\{$~L$\}\_\{2\}=0\mathrm{.}2\backslash$mathrm$\{$~m$\}.\backslash$mathrm$\{$L$\}\_\{2\}\backslash )$ is the distance from the $\backslash (\backslash$mathrm$\{$L$\}\_\{2\}\backslash )$ axis of rotation to the center point of the tip of the tool $($end effector$)$

a$.$ Copy the manipulator diagram to your paper. Label the base coordinate frame, coincident with the first axis of rotation.

b$.$ Label the coordinate frames for $\backslash (\backslash$mathrm$\{$L$\}\_\{1\},\backslash$mathrm$\{$~L$\}\_\{2\}\backslash )$ and the tool frames, according to D$-$H convention $($from class lecture.

c$.$ Label the angles for rotation, measured with CCW rotation.

d$.$ Find

e$.$ Find

f$.$ Find

g$.$ Find

Forward kinematics verification

$2.$ Compute for the following cases $($use MATLAB or hand calculate$)$ and sketch each configuration.