(Solved): Determine the forward kinematics of the robot shown in Figure 1, describing the position and orien ...

Determine the forward kinematics of the robot shown in Figure 1, describing the position and orientation of the end effector of the robot (labeled E.E. in Figure 1), using DH parameters. Assign the coordinate frames and variable names you need and include a clear drawing showing the frames. Provide your answer as a single homogeneous transformation (in this problem you do need to multiply out the individual link transformations to obtain a single transformation matrix). Assume that the home position of the robot is extended out to the right, such that \( q_{1}=0, q_{2}=0 \), and \( q_{3}=180^{\circ} .20 \) pts. Figure 1: A planar robot with two revolute joints and one prismatic joint.