Question: Problem 1 . [ 5 Marks ] For the coordinate systems established in Figure, if l 1 = I D ( 0 0 0 0

Problem 1.[5 Marks]
For the coordinate systems established in Figure, if l1=ID(000000uarruarr+150)
mm,l2=ID(000000uarruarr+180)mm,d3=ID(000000uarruarr+130)mm,1=
ID(0000000uarr+20),2=ID(0000000uarr+30) and 3=ID(0000000uarr+10).
Using D-H calculate the 4 x 4 homogeneous transformation matrices H10,H21,
H32, and H30=H10*H21*H32.
Problem 1 . [ 5 Marks ] For the coordinate

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