SOLVED: Use the Denavit-Hartenberg representation to establish coordinate systems of the robot (the full 6 DOF including the wrist). a) Label the links and joints. (1 mark) b) Produce a diagram of the robot (or use a photocopy of the figure below), to show the location of each set of coordinate systems in the links. (6 marks) c) Draw up a table with DH values for link and joint parameters for the robot. (6 marks) d) Write the forward kinematic equations in matrix form (no need to expand that mul
SOLVED: Use the Denavit-Hartenberg representation to esta…
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