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The robot with four degrees of freedom is shown in Figures. Using Denavit-Hartenberg method, for each robot l i. assign frames, l ii. obtain D-H

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The robot with four degrees of freedom is shown in Figures. Using Denavit-Hartenberg method, for each robot l i. assign frames, l ii. obtain D-H table, Iii write all 4x4 homogeneous transformation matrices, Iiv. find the orientation and position of the last link with respect to fixed base frame ZH

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