PART IV. DH TRaNsFORMS FOR PRISMATIC JOINTS Consider the robot arm in Figure 3. The first joint on this arm is continuous rotation, the second has a rotation of 180, and the Ocm. The link lengths are 20cm, 30cm, and 25cm. The end effector is fixed. Initially, the joints are set to q . The robot executes a series of motion commands that result in the configuration q'-. Assignment Figure 3. A 3-DoF manipulator robot with two revolute joints, a prismatic joint, and a fixed gripper. Define axes that obey Denavit-Hartenberg conventions for each frame on this robot. Calculate all DH parameters, and give a populated DH parameter table. Find the DH transformation matrices for all frame transitions. Find the transformation matrix from the global frame of reference to the end effector's frame of reference. Show all work. Use this matrix to find the end effector'svector. Show all work. PART IV. DH TRaNsFORMS FOR PRISMATIC JOINTS Consider the robot arm in Figure 3. The first joint on this arm is continuous rotation, the second has a rotation of 180, and the Ocm. The link lengths are 20cm, 30cm, and 25cm. The end effector is fixed. Initially, the joints are set to q . The robot executes a series of motion commands that result in the configuration q'-. Assignment Figure 3. A 3-DoF manipulator robot with two revolute joints, a prismatic joint, and a fixed gripper. Define axes that obey Denavit-Hartenberg conventions for each frame on this robot. Calculate all DH parameters, and give a populated DH parameter table. Find the DH transformation matrices for all frame transitions. Find the transformation matrix from the global frame of reference to the end effector's frame of reference. Show all work. Use this matrix to find the end effector'svector. Show all work