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I need a solution with an explanation quickly

The RRRP SCARA Robot For: \( l_{0}=7 \mathrm{~cm}, l_{1}=6 \mathrm{~cm}, l_{2}=8 \mathrm{~cm} \) and \( \quad \theta=\left(0, \frac{\pi}{2}, \frac{-\pi}{2}, 1\right) \) Find 1) \( \mathrm{DH} \) parameters 2) The end-effector configuration 3) Forward and inverse kinematics 4) differential kinematics in robotics SCARA

To find the DH parameters for a SCARA robot with the given dimensions, we will need to define the reference frames for each joint and specify the tran