3. Obtain the forward kinematic equations of the robot (A6) in the matrix form using the link and joint parameters that you have already identified (no need to expand the multiplication) (8 marks) Figure 1 shows a Motoman MH3F robot. This is a computer controlled six-joint robot, driven by six DC servomotors. The geometrical parameters of the MH3F are given in Figure 1(b). Joint 5 Joint SKAWA Joint 3 Joint 2 Joint 1 Joint 6 659 260 290 42 -531. 532 40. 270 - 90 POINT P 822 D 18 NOTE: L/U AXIS TRAVELS BETWEEN Figure 1. An MH3F robot. (a) A photo of the MH3F robot. (b) a sketch of the MH3F robot with geometrical parameters Students are required to work individually to obtain the forward kinematic equations of the MH3F robot. Students will use Denavit-Hartenberg (DH) representation to establish the 7 coordinate frames (including the base coordinate system XoYoZo) of the robot.