reference pose. [3 marks]
Yo
dz
Please answer the follow questions using the DH method:
a) Define all the required coordinate systems associated with each joint and derive link
parameters based on the DH method. [y-axis direction is given; you have to assume the
other axes directions] (0.5 mark)
b) Derive the transformation matrix between the end-effector and the base coordinate
system ³Ho. (1.5 mark)
c) Calculate the coordinates of the point C and draw the corresponding configurations based
on the values of parameters and variables given: 1₁ = 12 = 13= 6, 0₁-30°, 0₂ = 60° and
assume d3 (1 marks).
Fig: 1