Write a matlab code for forward kinematics using DH method. 1. Load the DH table to a matrix (make sure all the parameters are numbers and not symbles). 2. Perform DH method to get the transformation matrix for forward kinematics problems. Test your solution with the example from texbook (FIGURE 5.24. Illustration of the space station remote manipulator system (not in scale) to get the global coordinates of the end-effector given the DH parameters in Table 5.10.

xs Elbow joint Shoulde joints 20 rst joints xs 0, 22 FIGURE 5.24. Illustration of the space station remote manipulator system (not in scale Consider the numerical values of joints offset and links' length as tabu- lated in Table 5.10. Utilizing these values and indicating the type of each link enables us to determine the required transformation matrices to solve the forward kinematics problem Links (1) and (2) are RHR(-90), and therefore cos ?| 0 -sing 0 sino, 0 cos ?1 0 (5.110) cos ?2 sna, -sin ?2 cos ?? 0 0 Links (3) and (4) are R R(0), hence sin ?3 cos83 0 a3 sin ?3 (5.112) 270 5. Forward Kinematics sine, cos ?4 0a4 sine (5.113) 0 d xs Elbow joint Shoulde joints 20 rst joints xs 0, 22 FIGURE 5.24. Illustration of the space station remote manipulator system (not in scale Consider the numerical values of joints offset and links' length as tabu- lated in Table 5.10. Utilizing these values and indicating the type of each link enables us to determine the required transformation matrices to solve the forward kinematics problem Links (1) and (2) are RHR(-90), and therefore cos ?| 0 -sing 0 sino, 0 cos ?1 0 (5.110) cos ?2 sna, -sin ?2 cos ?? 0 0 Links (3) and (4) are R R(0), hence sin ?3 cos83 0 a3 sin ?3 (5.112) 270 5. Forward Kinematics sine, cos ?4 0a4 sine (5.113) 0 d