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4. The arm with three degrees of freedom is shown in Figure 2 on the next page. Derive the kinematic equations for H, that

4. The arm with three degrees of freedom is shown in Figure 2 on the next page. Derive the kinematic equations for H, that is from the reference frame 0 to frame 3. You do NOT need to perform matrix multiplications. There is no need to SIMPLIFY your answer. Also, note that no l3 need to be defined.

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