Problem 5. Find COS dA by using the transformation и — у — а v = y+r D is the trapezoidal region with vertices (1,0), (2,0), (0, 2), and (0, 1).

15.8 , 1

5. Compute the orientation and position of the tool point P from the given D-H table (Table 1) for the displacement variable el-90°, 02-90° and e3-90°. a 20m, a: -20m, as-20m. Note: find the position and orientation using step by step procedure Use the composite transformation matrix given in Equation 1 [ce, -58,Co, S8,Sa, qC, se, co,ca; -CO,Sα; aS0; 0 sα; ca da 0 0 0 +¹T₁=\ Figure 3 3-DOF (Industrial manipulator arm) → Equation 1 Table 1 D-H table for the 3-DOF manipulator Joint 8 d G 1 01 0 80 2 3 03 0 03 a -90 0 0