Question: 3 - 9 ( modified ) Attach a spherical wrist to the three - link Cartesian manipulator of problem 3 - 7 as shown in

3-9(modified) Attach a spherical wrist to the three-link Cartesian manipulator of problem 3-7 as
shown in the figure below. Derive the forward kinematic equations using the DH convention.
Indicate your frame assignments in a figure and use values such as a1,d1, etc. for unspecified
lengths.
3 - 9 ( modified ) Attach a spherical wrist to

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