Create the D-H table for the SCARA robot above with justification below the table describing the order of your work and thought process for each entry. Find the transformation matrix of the robot above using the D-H table and justifying your work. d1=5, L1=8, L2=2, d3=4, d4=8 | Link 0 (Column) Axis 2 Axis 3 and 4 Joint 1 (Shoulder) Joint 2 Axis 1 z1 Link 3 (Vertical Stroke) (Elbow) Link 2 (Fore Arm) L1 x2 Link 1 (Arm) Link 3 x1 d3 (Linear Actuator) L2 Link 4 24 (Wrist) x3 Link 4 d4 Base d1 (Gripper and Tool) x1