h3 is the minimum distance between x3 and x4 1x3 h2 h3+d3 z3 4x4 24 18 hand origin 18 di zl ai hl hl 01+/2 0 /2 -h2 02+/2 yl 0 1 /2 x1 h3+d3 0 0 0 Ideal values of link parameters B. Local vector of p4 (in frame 4) ad D p4= = hl 400mm h2 150mm h3 = 250mm b=70mm c=55mm a = 50mm Solve the following four questions: Question 1. Assign Cartesian frames to the links and check the validity of the above parameters table. 3 marks Question 2. Calculate the robot Jacobian at the shown home position 3 marks