For the RRR arm in problem $1,$ it is holding and moving a small object with mass $m$ in a space station. If the weight and the mass of the arm are neglectable, the base of the arm is stationary, and no energy loss, complete the following steps to find the joint torque ${}_3.$

$\}\}$

$0$

${}_1^{}\left[\begin{array}{c}{L}_1\end{array}\right]$

$0$

$0+\left[\begin{array}{c}0\end{array}\right]$

$0$

${}_1^{}\left[\begin{array}{c}0\end{array}\right]$

$0$

${}_1^{}\left[\begin{array}{c}{L}_1\end{array}\right]$

$0$

$\{[0$

${?}^3{}_3=$

${?}^3{}_3^{}=$

${?}^3{a}_3=$

As shown in the figure below, a lightweight RRR robotic arm is holding and moving a small object with mass $m$ in a space station. If the ${}_1,{}_2,$ and ${}_3$ are joint variables, fill the $DH$ table and find the forward kinematic ${?}^0{T}_4.$

$\backslash$table$[[i,a_{i-1},{}_{i-1},d_i,{}^{\text{'}}$