Problem 2: (60 points) The basic dimensions and movement range of each of the joints of the MITSUBISHI RM-501 are shown on the following page. A reference coordinate system which is fixed to the table on which the MITSUBISHI is mounted within the workstation has been defined as [Xs, Ys, Zs]. The position and orientation of the base coordinate system [X, Yo, Zo] with respect to this is specified through the GT homogeneous transformation. A tool coordinate system (X,Y,ZT] is also shown. It is fixed to the end effector and has its origin at its center. 1. Show the coordinate frames for the MITSUBISHI, ([Xs, Ys, Zs].], [Xo, Yo, Zo], [X5, Y5, Z5], [XT, YT, ZT]), in the "zero" configuration, that is, with the angles 0 = 0 = 03 04 05 = 0. 2. Give a DH table specifying the link parameters for the MITSUBISHI. 3. Determine the values for 1-17 for i = 1,...,5. 4. Find T. Be sure to simplify any trigonometric equations as you are able. Use simplified notation whenever possible such as C12 for cosine (0 + 02), etc. 5. Find FT, for that you need to find T and T first. (330) 200 Outer Dimension Diagram 208 2-M3 x 6 screws 144 250 (695) 220 Structure {0,1,2} NUS Item [{s} (3) 160 65 {4,5} Connector for hand Z 104.6 37 20 42 Range of Waist rotation movement Shoulder rotation Elbow rotation Wrist pitch Wrist roll Wrist tool surface Base attachment diagram Specification Five degrees of freedom-Ventical multi-joint type 300 130 90 90 180 MB screw 24 160 24 208