parameters based on the DH method. $[$X$-$axis direction is given; you have to assume the

other axes directions$]$

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

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

$($sinns$)$

$L_1=2\mathrm{.}5,L_2=2,$ assume $L_3,=\{{}_1,{}_2,{}_3{\}}^T,$ assume and assume ${}_3.$

d$)$ Check your result in c$)$ by sketching the robot configuration.