The defendant shall be present at the arraignment, at the dispositional conference, at every stage of the trial including the impaneling of the jury, and at the return of the verdict, and at the imposition of sentence, except as otherwise provided by these Rules. In any criminal prosecution the defendant’s voluntary absence after the trial has been commenced in the defendant’s presence shall not prevent continuing the trial to and including the verdict and imposition of sentence. A corporation may appear by counsel for all purposes. In any criminal prosecution for a Class D or Class E crime, the court may permit arraignment, plea, trial, and imposition of sentence of a represented defendant in the defendant’s absence.