The tasks consists of setting up the D-H frame and D-H table for a 6DOF robot manipulator (using Mark Spong method), then getting it to draw a circle using the robot’s transformation matrices and inverse kinematics ( using the Jacobian matrix). The code has to be written in python 3 and one cannot use python… Continue reading The tasks consists of setting up the D-H frame and D-H table for a 6DOF robot ma