Question B$2.$

Consider the $5-$DoF robot arm shown in the Figure B$2.$ The joint configuration vector of this robot is given by $q=({}_1,{}_2,{}_3,{}_4,{}_5,{}_6),$ and all of the joints are revolute joints.

Figure B$2.$ A $5-$DoF robot arm.

$($a$)$ Considering the base frame shown in the figure, assign reference frames to the other joints according to the standard Denavit$-$Hartenberg convention. $($Note: drawing directly on Figure B$2$ or drawing a separated with simplified reference lines below$)$

$40\%$

$($b$)$ Provide a table with the proper Denavit$-$Hartenberg parameters that describe the forward kinematics of the robot

$[60\%]$