Discussion Question - Edited

Construct the D-H table based on diagram of a four link manipulator, as shown in the previous post. For your convenience, a new diagram has been attached below in Figure 1. Figure 2 shows the robot in its home configuration. Please note that Link 4 is a "virtual link" representing the distance from the end of L3 to the end effector (brush). Thus, Theta 4 represents the angle between L4 and L3. Also create the homogeneous transform matrix, T0_4. You may leave it as a multiplication of up to four matrices. (The initial angle between L3 and L4 may be labeled as Theta40).

Figure1. Create the DH table of this robot

Figure2. The home configuration of the robot

SOLUTION