4. As shown in the following figure, it is an ABB IRB140 industrial robot. It has six DOF and all the major dimensions are given. The last three axes intersect with

each other and have the common origin located at the centre of axis 5. Please derive the transformation matrix between the end-effector (6) and the base of the robot coordinates systems {0} using the homogenous transformation method. Assume the axes orientations at every joint and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! The link lengths are given in the diagram. You may use MATLAB for matrix multiplications. 670 Te 70 380 65 810 486 1092 712 352 151