2 15 . Consider the United States Robots Maker 10 manipulator shown in Fig . 2 - 31 . This is I five axis spherical courdimute robot with a pitch -...

we need to find arm matrix by following the steps that defined in the question

2 15 . Consider the United States Robots Maker 10 manipulator shown in Fig . 2 - 31 . This isI five axis spherical courdimute robot with a pitch - roll spherical wrist , Assign linkordinates using the first half of the D - H algorithm Label the diagram with a's and aas appropriateFigure 2 -31 United States Robots Maker 1 10 robot ( Courtesy of United States RobertsKing of Prussia , PA2 - 16 . Lise the last half of the DO - H algorithm to fill in the table of kinematic parameters forthe Maker 1 10 in Table 2 8 consistent with your link - coordinate thagram for Prob2 - 15 Indicate which parameters are the joint variable2 - 17 . Compute the first factor of the arm matrix Immig) for the Maker 10 robot using yourtable of kinematic parameters from Prob . 2 - 162 - 18 . Compute the second factor of the arm matrix Truly for the Maker 170 robot usingyour table of Kinematic parameters from Prob . 2 - 16