Consider the robots shown in the below figures.

i$.$ Assign the coordinate frames for each robot.

ii$.$ Find the Denavit$-$Hartenberg $\backslash ((\backslash$mathrm$\{$DH$\})\backslash )$ parameters for these robots, in the form of a table.

iii. Find the overall transformation matrix $\backslash ($ T$\_\{$j$\}^\{0\}\backslash )$ 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 $($using C$,$ C$++,$ Julia, python, or MATLAB$)$ 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$).$

a$-$ Three$-$link planar arm with a prismatic joint c$-$ Cartesian manipulator with spherical wrist

d$-$ PUMA $260$ manipulator