ROBOTICS Homework #2 Given the Stanford arm as following figure, where d2=0.1m Problem 1: Find the link parameters for the arm. (Note:

Given the Stanford arm as following figure, where d2=0.1m

Problem 1: Find the link parameters for the arm. (Note: d3 is a prismatic joint variable, other joints are rotational joints; the link coordinate frames have been established as shown in the Fig.) (30 points)