This homework assignment uses both robodk software and matlab software.We are to use the "UR3 Dimention.docx" file to form our reference frames and develop our denavit Hartenberg parameters and...

Que 1: Here is the Denavit-Hartenberg parameter table for the UR3 robot arm:
    i
    
    a(i-1)
    d(i)
    
    1
    90°
    0
    38 mm
    θ1
    2
    0°
    213 mm
    0 mm
    θ2-90°
    3
    90°
    38 mm
    0 mm
    θ3
    4
    -90°
    35 mm
    192.65 mm
    θ4
    5
    90°
    0 mm
    14.65 mm
    θ5
    6
    -90°
    0 mm
    59.08 mm
    θ6
    End
    0°
    0 mm
    91.4 mm
    0°
where:
· i is the index of the link/joint
· α(i-1) is the twist angle between z(i-1) and z(i) measured about x(i-1) in degrees
· a(i-1) is the distance between x(i-1) and x(i) measured along z(i-1) in millimeters
· d(i) is the distance between z(i-1) and z(i) measured along x(i) in millimeters
· θ(i) is the rotation angle of the joint i in degrees
Note that the last row of the table represents the orientation of the end-effector relative to the base frame, which is fixed and has zero twist, zero distance, and zero rotation angle.
Que 2:
You must perform the following actions in order to create a MATLAB programme that will move the UR3 robot arm to a horizontal position with joint angles coming from your UR:
· Connect to the UR3 robot arm...