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 30 -531. 532 40-- 270. _90 POINT P 822 42 J 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. Students should complete the following tasks for submission (the total mark of this assignment is 86 points): 1. Number all links and joints of the MH3F as shown in Figure 1 (b) and establish (by drawing) DH coordinate frames for all links. You can also copy the figures from this assignment sheet (either Figure 1 or Figure 2 below) and draw your own DH coordinates. (14 mark)