method. $[$X$-$axis direction is given; you have to assume the other axes directions$]$

b$)$ Derive link parameters based on the answer in a$).($DH method!$)$

c$)$ Derive the kinematic equations for ${?}^0{H}_3$ based on the answer in b$).$

d$)$ Solve the forward kinematics problem using the following input data:

Assume $L_1{L}_2,$&$L_3,$ and $=\{{}_1,{}_2,{}_3{\}}^T=\{--,--,-{\}}^T,$ assume the numerical

values of the angles less than $90$ degrees.

e$)$ Check your result in d$)$ by sketching the robot configuration as a line diagram to

represent robot links. Solve all the parts.