21:03 Tue, Jan 9 83.87 0.2KB/s 91% 2. The following figure shows a Sawyer collaborative robot in action on a factory floor. This is a 7-DoF robotic arm. Assume the home configuration is shown in the figure. What is the end-effector position when the joints are set to (0,4,0,1,0,1,0) ? 2 Hint: This is a forward kinematics problem. For matrix multiplications, you can prefer to use MATLAB. 192.50 J2 J3 A Sawyer robot. 400.00 168.50 J4 J5 400.00 120.00 136.30 J6 J7 A top view of the Sawyer robot arm at its home configuration. Dimen- sions are in mm. Assume that the centerlines shown are the screw axes of the revolute joints. The {s} frame is at the base of the arm. The height from the base to the first joint is 317 mm. Powered by WPS Office