Question: Will rate and upvote, thanks! Assign and draw the frames on this three - link robot shown below, using the DH convention with the given

Will rate and upvote, thanks!
Assign and draw the frames on this three-link robot shown below, using the DH convention with the given base and tip frames. Please use MATLAB to calculate the robot EE pose with when if 1=10,2=30,3=45, and L1=L2=20,L4=10. The first revolute joint rotation axis is pointing up, and the second revolute joint rotation axis is pointing out of the paper.
NOTE: the robot is in its home configuration with all joint variables are zero as shown:
Will rate and upvote, thanks! Assign and draw the

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