Question: Problem 2 . [ 5 Marks ] For the coordinate systems established in Figure, if l 1 = I D ( 0 0 0 0

Problem 2.[5 Marks]
For the coordinate systems established in Figure, if l1=ID(000000uarruarr+120)
mm,d1=ID(0000000uarr+23)mm,1=ID(0000000uarr+36)o,l2=
ID(000000uarruarr+128)mm,2=ID(0000000uarr+42),l3=ID(0000000uarr+57)
mm and 3=ID(0000000uarr+65). Using D-H calculate the 4 x 4 homogeneous
transformation matrices H10,H21,H32, and H30=H10*H21*H32.
Problem 2 . [ 5 Marks ] For the coordinate

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