ECE 555 HW#4 solution

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1. The Figure below is a RRPR robot. For this robot system:
• Assign link frames [50 points]
• Complete the Denavit-Hartenberg parameters [40 points]
• Use the link parameters to compute the individual link
transformation matrices for each joint and compute the
individual transformation matrices
[10 points]
2. Write a MATLAB script using the Robotics Toolbox to determine the location
and orientation of the manipulator’s end-effector where:
a. Theta1, Theta2, and Theta 3 are 0
b. All links are 1 unit [100 points]