(Solved): A robot has been designed as shown below. a. Construct the D-H table using the assigned frames. b. U ...

A robot has been designed as shown below. a. Construct the D-H table using the assigned frames. b. Use Pieper's solution to find two sets of joint angles (\theta _(1),\theta _(2),\Theta _(3)) when the frame {6} position is (2,2,2) and the robot dimension is as follows: a_(2)=2,a_(3)=0.2,d_(3)=0.1, d_(4)=1. Please show all frames and work