can you please explain clearly. thx.

3-JOINT ROBOT ARM Pitch Joint 2 Joint! } Gripper Junt } you Gripper 1 Yobject Bose Base The 3 joint robot arm shown in the picture will be simulated in the MATLAB Simulink program. But before that, mathematical modeling and some kinematic analysis need to be done. There are 6 questions to be answered for this. (The rotational movement of joint 1 is "pitch", the rotational movement of joint 2 is "pitch" and the rotational movement of joint 3 is "yaw".) a) Sketch kinematic block diagram of robot arm. b) Assign the coordinate frames based on Denavit-Hartenberg representation. c) Draw the table of Denavit-Hartenberg Parameters for robot arm. (Why is the D-H table needed?). d) Calculate all matrices (Transformation, Homogeneous, Rotational etc.). And why do we compute these matrices? Why is this needed? e) Calculate forward kinematic analysis. What is this necessary for? 1) Calculate inverse kinematic analysis. What is this necessary for? Please write what all the symbols mean