Robot arms are an integral component of the Industry 4.0 and its applications are vital in automating industrial processes such as car spray painting, welding, assembly, pick and place and packaging, just to name a few. Figure Qla shows a two dimensional view of a robot arm along with labels of its joints, axes of joint rotation and some dimensions. A base coordinate frame {0} has been established as depicted in the figure. With reference to Figure Qla, answer the following questions. 1.2m 1m ZO Joint 3 Joint 4 Joint 2 yo Joint 1 0.9m 0.4m Figure Q1a: A Robot Arm Joint 5 a. What is the degree of freedom (DOF) of the robot arm in Figure Qla? b. In your own words, explain the meaning of robot arm forward kinematics. (2 marks) (3 marks) c. Establish the Denavit-Hartenberg (D-H) coordinate frame for each link of the robot arm by drawing them on Figure Q1b. For clarity, you may draw only two axes. (5 marks) d. Find the D-H parameters and tabulate them in a table such as Table Q1. Redraw the table in your answer booklet. (5 marks) Table Q1: Robot Arm Joint Variables and Parameters Joint i ed a a 1 I n e. Determine the homogeneous transformation matrix T (0) that relates coordinate frame {1} to the base coordinate frame {0}. (2 marks) f. Determine the homogeneous transformation matrix T(0) that relates coordinate frame {2} to coordinate frame {1}. (2 marks) g. Determine the homogeneous transformation matrix T3(03) that relates coordinate frame (3) to coordinate frame {2}. (2 marks) h. Calculate the homogeneous transformation matrix T (0,0). (4 marks)