A robot has been designed as shown below.

a$.$ Construct the D$-$H table using the assigned frames.

b$.$ Use Pieper's solution to find two sets of joint angles $(\backslash$theta $\_(1),\backslash$theta $\_(2),\backslash$Theta $\_(3))$ when the frame $\{6\}$

position is $(2,2,2)$ and the robot dimension is as follows: a$\_(2)=2,$a$\_(3)=0\mathrm{.}2,$d$\_(3)=0\mathrm{.}1,$

d$\_(4)=1.$

Please show all frames and work