Question:
a) Derive the D-H table for the RR manipulator above. Assume h=0;b) Solve for the transformation matrix 
. (Note this is not the normal matrix 
)
. (Note this is not the normal matrix 
)Alternatively to simplify the problem, b) could be written as:
Solution:
b) Solve for the transformation matrix , then explain how to derive from .
, then explain how to derive from .Solution:
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