Figure $3\mathrm{.}16$: Three$-$link articulated robot. Consider the three$-$link articulated robot of Figure $3\mathrm{.}16.$ Derive the

forward kinematic equations using the DH convention. please make a table for the link length $($a$)$ link twist $($alpha$)$ link offset$($d$)$ and joint angle$($theta$)$ for each link and create coordinate frames for each link