Problem 4. Figure 4.a shows a da Vinci Xi, used in several types of robot-assisted surgery. Though it is mechanically constrained to have only 3 degrees of freedom per arm, assume each arm is a simple serial chain. 45 a. Da Vinci Xi surgical robot. 12 5 25 15 10 b. Model of one da Vinci Xi surgical robot arm. Note that the grey regions represent. R. joints, green indicates the base reference point, and yellow represents the end effector position. Dimensions are in cm. (a) Figure 4.b consists of a simplified model of a single arm of the device in its home configuration. How many degrees of freedom does it have? (b) Write the DH table and define DH parameters for the arm model. (c) Determine the position of the end effector if the joints are at (0, 1, 4,,1)