$2.(15$ points$)$ Now consider a more typical $6$ R industrial robot arm, configured with the reference coordinate system as shown in the following Figure. The shoulder axes and wrist axes intersect at a common point, indicated by the marked coordinate frames. The inertial frame $\backslash (\backslash \{$I$\backslash \}\backslash )$ is set at the base. Present the coordinate of the gripper's end point $\backslash (\backslash$boldsymbol$\{$P$\}\backslash )$ in frame $\backslash (\backslash \{$I$\backslash \}\backslash ).$

Figure $1$: A typical kinematic configuration for a $6$R industrial manipulator. The "shoulder" has $2$ degrees of freedom, the "elbow" has $1,$ and the "wrist" has $3.$