Q$2$: $(10$ marks$)$

A special $3-$DOF spy ying robot has been designed as shown:

a$.$ Assign the coordinate frames based on the D$-$H representation.

b$.$ Fill out the pammeters table.

c$.$ Write ail the A matrices.

d$.$ Find the location and orientation of the hand $"$ TH$\_($H$)$ LI$=20$cm$,$L$2=30$cm$,$LJ$=5$cm$,01=45\backslash$deg $\mathrm{.}03-30\backslash$deg