We are to use the “UR3 Dimention.docx” file to form our reference frames and develop our denavit Hartenberg parameters and then we are asked to develop a matlab code to compare our results to the UR3 in the upright position in the picture attached.

and

2. Write a matlab program to move the robot to a horizontal Location with joint angles coming from your UR Do the same thing with UR3 in up right position. Compare your data with that of the UR3.