Homework 2 For ach of the two reist sketchik 1 Find Denavit - Hartenbing parameters for 3. each link (Tabulate ). Label comdinate systems Find each matrix on the drawings B = ref. To "T, 'To, To, H = Ttv RO BOT 1 1/1 st EX 1. Find Denavit - Hartenburg parameters for each link. (Tabulate). each joint i Oi di Ai di 2 3 2. Label coordinate systems on the drawings. 52 32 Frei xref ret Xref 20, 24 30 Xo, x1, 72 x2, J 2 3 4 5 scale: 1/4 inch 11 11 d3 SLIDING JOINT TOP a 3 SIDE 6 7 8 9 10 11 12 13 14 15 16 17 18 19 ()