d2 01 d3 L2

draw and determine the following using the D-H convention presented in class and explained in the text.

1. link number
2. link name
3. joint number
4. joint type (R or P)
5. link coordinate origin location
6. link x axis direction
7. link y axis direction
8. link z axis direction
9. translation from proximal to distal end
10. rotation from proximal to distal end
11. homogeneous transformation matrix