In: Computer Science

Program a function to compute the forward kinematic matrix based on the robot’s DH parameters. You should have the following function:

A=FK(DH)

DH contains all the DH parameters

The objective of **forward kinematic analysis** is
to determine the cumulative

effect of the entire set of joint variables.

**DH
Parameters**

**Link lengths**

a = [0, 650, 0, 0, 0, 0]

**Link offsets**

d = [0, 190, 0, 600, 0, 125]

**Link twist angle**

alpha = [-pi/2, 0, pi/2, -pi/2, pi/2, 0]

So basically I finding the T transformation matrix for each link from the the base frame {B} to wrist frame {W}. This is my code;

**Function to
compute Forward Kinematics:**

*def forwardK(q):*

*#T06 is the location of Wrist frame, {W}, relative to Base
frame, {B}
T01 = genT(q[0],0,d[0],0)
T12 = genT(q[1],a[0],d[1],alpha[0])
T23 = genT(q[2],a[1],d[2],alpha[1])
T34 = genT(q[3],a[2],d[3],alpha[2])
T45 = genT(q[4],a[3],d[4],alpha[3])
T56 = genT(q[5],a[4],d[5],alpha[4])*

*#Tool frame {T}
#T67 = genT(0,0,d[5],0)*

*T03 = matmul(T01,T12,T23)
T36 = matmul(T34,T45,T56)
T06 = matmul(T03,T36)
#T07 = matmul(T06,T67)*

*x = T[0][3]
y = T[1][3]
z = T[2][3]*

*print("X: ",x)
print("Y: ",y)
print("Z: ",z,"\n")*

*print("T: ",T,"\n")*

*return T06*

**The function to compute T Matrix**

*def genT(theta, a, d, alpha):
T = array([[cos(theta), (-sin(theta)), 0, a],
[sin(theta)*cos(alpha), (cos(theta)*cos(alpha)), -sin(alpha), (-
d*sin(alpha))],
[sin(theta)*sin(alpha), cos(theta)*sin(alpha), cos(alpha),
cos(alpha)*d],
[0, 0, 0, 1]])*

*return T*

from the T Matrix relating the {B} frame to the {W} frame position vector of the {w} [x y z] is extracted. R Matrix (orientation) of the {W} relative to the {B} is obtained by the following piece of code;

*T = forwardK([30,-110,-30,0,0,0])
x = T[0][3]
y = T[1][3]
z = T[2][3]
R = T[0:3,0:3]*

Where T is the transformation matrix relating {W} to {B}

Write a MATLAB function function = myMatrixInveesion(....) to
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built-in "lu" or "inv" commands in your code. You will need to
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Thank you!
function_____ = myMatrixInversion(_____)

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In the main function, call the
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Explain what forward genetics and reverse genetics are?
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