Consider an RPR plannar robot shown in Figure Q6. The robotic system has three-degrees of freedom; the joint variables are 0, d and 03. It is noted that the dimension L is fixed and the dimension d is used to denote the movement of prismatic Joint 2. For kinematic analysis, Frame {0} is the base frame; the base coordinate system XYoZo is shown in the figure with the 2o axis pointing out of the paper. Frame {3} is located at the axis of Joint 3 which is the wrist of this robotic system. (a) (b) (c) (d) L1 180 i 1 2 3 Figure Q6 Assign link frames to the robot arm. Appraise the consideration(s) in assigning frame {2}. Obtain the Denavit-Hartenberg (DH) parameters from kinematic analysis. List your results in the following table. {-1 0 dz T= So 0 0 ai-1 Table Q6 03 di Formulate the transformation that relates frame {3} to frame {0}, i.e. gr. Analyse inverse kinematics to obtain relations for joint variables in terms of known position and orientation of the origin of frame {3}: 0x1 Co 0 y 0 1 0 0 0 0 where x and y is the coordinate of the wrist and is the orientation of Link 3 (end- effector) in the plane with respective to X.