1) Assign the necessary frames to the robot of figure below and derive the forward kinematics

equation of the robot.

2) For a given 4 DOF robot:

 Assign appropriate frames for the DH representation.
 solve the forward kinematics.

3) Obtain the direct kinematics equation of the 4 DOF selective compliance Assembly Robot
Arm (SCARA) robots.
4) Obtain the Forward Kinematics of a 5 DOF Industrial Manipulator.

5) For a 5 DOF RRR-RR

RR articulated configuration manipulator shown in below figure. obtain the
forward
rd kinematic model.
6) Obtain the forward kinematics of below figure.

7) Formulate the direct kinematic model of the six degrees of freedom Stanford manipulator
shown below.