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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 functions that directly calculate the Jacobian matrix. In other words, the Jacobian matrix is to be calculated using equations; python functions can only be used to calculate the inverse of the matrix, taking derivatives and other matrix & math operations. Please write the code as much as possible in a way for a beginner to understand it easily, and please also include as many comments as possible. Also we have mostly been using the sympy, numpy, matplotlib and scipy libraries for this class, so please use those as much as possible. In addition to the full task description, I have attached the related lecture slides and some hints that were provided to students.

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