1) This is a re-write assignment, we have discussed this robot with a cylindrical arm and spherical wrist.Please follow the 7 steps to generate the following thing:•Kinematic Diagram for both arm and...

1) This is a re-write assignment, we have discussed this robot with a cylindrical arm and spherical wrist.Please follow the 7 steps to generate the following thing:

•Kinematic Diagram for both arm and wrist.

•The Denavit-Hartenberg table for both arm and wrist

•Create the DH-HTM matrix and the corresponding Rotational matrix R_3^0 and R_6^0

•Following the 7 steps to calculate the inverse Jacobian matrix and the corresponding path planning equations.

write them down on paper and submit it by image file or word .docx, or .pdf files.

2 )Write the Python Program for the calculation of Inverse Jacobian Matrix

submit .py or .zip file

Please put all of your files into a directory and compress them into a compressed file (.zip, .rar) will be accepted.