Problem $1.[10$ Marks$]$

$($a$)$ A planar RRP manipulator label the

coordinate frames and find the

$H_1^0,H_2^1,H_3^2$ and $H_3^0$ at the endpoint of the

manipulator shown in figure. Data: ${}_1=20,$

${}_2=25,d_3=200mm,l_1=130mm.[5$ Marks$]$