1. Using Matlab; write a=script that will allow a user to enter a series of Denavit Harternberg (DH)=parameters followed by joint angles that will replicate the tool frame=information displayed on a typical teach and repeat pendant. You are=required to replicate all 6 components of the robot pose.

Robot used: Yaskawa GP8

Pendant used: YRC1000

The script should be in=GUI form, not command line driven, the GUI should be intuitive and user friendly.

2. Using the script developed above, test the script by comparing your script results to a number of poses of the Yaskawa GP8, The robot poses should be selected in order to fully test the limitations of your script. You will be required to derive the DH parameters to accomplish this task.

3. Further test the script with a second robot configuration. (You will be issued a unique robot configuration from which you will develop a second series of DH parameters)

4. From the results above, determine the accuracy of your kinematic script. Tabulate and critically analyse the results.