Consider the robots shown in the below figures. i$.$ Assign the coordinate frames for each robot. ii$.$ Find the Denavit$-$Hartenberg $($DH$)$ parameters for these robots, in the form of a table. iii. Find the overall transformation matrix $0$ relating the end$-$effector frame to the base frame for each robot. Programming Q: Based on the transformation matrix computed in $($iii$),$ write a computer program $($ python, $)$ for one of the robots $($choose one$),$ that simulates the forward kinematics with demonstrated results $($assume joint variable values as an example to show the calculated location of the end$-$effector position and orientation$)$