A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix for each link. d) Find the Forward kinematics of the robot. e) Find the Inverse kinematics of the robot. f) Find the Jacobian Matrix. g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method. h) Write the code in MATLAB and simulate the robot. Parameters Values Units 4 0.4 m 12 0.1 m 13 d3 l3 0.6 m 14 0.05 m 9.7 kg m1 01 m2 4.864 kg m3 3.153 kg Zo yo 0.178 m4 kg 02 [0.0384 0 0.01] [0.155 0 0 0 0.048 0 0 0.0053 0 0.01 0 0.05] 0 0 0.1549] [0.0639 0 0 [0.00011 0 0 13 = 0 0.0634 0 14 0 0.00012 0 0 0 0.0014] 0 0 0.00006]