Part #1 1. Assume all joint variables are zero in the configuration shown in the above figure, through observing the link lengths and the configurations of the robotic arm, please derive its general forward kinematics model (the H matrix). Here, you are not allowed to use the functions of the Matlab robotics toolbox to get the model. In other words, you need to derive the model from scratch using your own Matlab
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The forward kinematics model for the robotic arm can be derived as follows: Show more…
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