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SECTION A A1. Consider the SCARA robot shown in Figure A1. (a) Assign the coordinate frames using
the Denavit-Hartenberg (D-H) algorithms provided. [25%] (b) Fill out the D-H parameter table. [30%] (c)
Write all three transformation A matrices of the joints. [30%] (d) Write the transformation ... 
 

1- SECTION A A1. Consider the SCARA robot shown in Figure A1.. (a) Assign the coordinate frames using the Denavit-Hartenberg (D-H) algorithms provided. [25%] (b) Fill out the D-H parameter table. [30%] (c) Write all three transformation A matrices of the joints. [30%] (d) Write the transformation matrix from the wrist of the robot to the base of the "TH matrix in terms of the A matrices. [15%] d2 d3 01 U 04 H 06 Figure A1: Cylindrical robot with spherical wrist. This study source was downloaded by 100000866456734 from CourseHero.com on 05-01-2023 01:36:46 GMT-05:00 https://www.coursehero.com/file/151900723/MN5552-exam-paper-2020-Maypdf? a