#$3$: $(30\%)$ Assign frames and complete the D&H parameter table for the AUBO I$20$ Cobot. A top

and side view are given, please show the frames in both views. Compute the forward kinematics

to determine the location and orientation of frame $3($T$^(0))^()$

T$\_(0)^(\text{'})=[[$C$\_($C$\_(1)),0,$S$\_(\backslash$theta $\_(1)),0],[$S$\_(1),0,-$c$\backslash$theta $\_(\backslash$theta $\_(1)),0],[0,1,0,197],[0,0,0,197]]$T$\_(1)^(2)=[[$C$\_(\backslash$theta $\_(2)),-$S$\_(\backslash$theta $\_(2)),0,0],[$S$\_(\backslash$theta $\_(2)),$C$\_(\backslash$theta $\_(2)),0,0],[0,0,1,647]]$

T$\_(2)^(3)=[[$ Work page $,-$S$\backslash$theta $\_(3),0,123,5$C$\_(3)$

S$\_(\backslash$theta $\_(3)),$C$\backslash$theta $\_(3),0,123,5$S$\_(\backslash$theta $\_(3))$

$0,0,1,600,5$

$0,0,0,1]]$

$0$

$0$

S$\_(\backslash$theta $\_(3))$

C$\_(\backslash$theta $\_(3))$

C$\_(\backslash$theta $\_(1))$

$0$

$\{($:$+197)$:$\}$