general problem specification : RVM1 manipulator forward kinematic equations

project specifications :

Using the D-H guidelines, assign coordinate frames for the RVM1 manipulator.
Extract the structural kinematic parameters and write down the transformation matrices.
Derive the forward kinematic equations.  Verify your equations.

additional requirements / information :

20 minute report Q&A
 complete docs
 2 weeks for submission and demonstration.
 verify your solution, consult me

timestamp : Wed Jun 25 14:28:50 PHT 2008