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# (20) 4. The arm with three degrees of freedom is shown in Figure 1. Joint 1's axis is not parallel to the other two. Instead there is a twist of 90...

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(20)4. The arm with three degrees of freedom is shown in Figure 1. Joint 1’saxis is not parallel to the other two. Instead there is a twist of 90 degrees in magnitude between axes 1 and 2, Figure 1 a) Affix frames in a sketch (5)b) Derive link parameters (DH-Table) (5) c) Derive kinematic equations for [3T (the base and wrist frames). Note that no 13 need to be defined. (10)