Question: Given the DH table table [ [ i , alpha _ ( 2 - 1 ) , a _ ( 2 - 1

Given the DH table
\table[[i,\alpha _(2-1),a_(2-1),d_(i),\theta _(i)],[1,0,0,0,\theta _(1)],[2,9_(0)\deg ,0,0,\theta _(2)],[3,0,l_(1),0,\theta _(3)],[4,0,e_(2),0,0]]
Find ?21T.
Given the DH table \ table [ [ i , \ alpha _ ( 2

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