Consider the following RRP manipulator. Iso View Top View Front View Top View Front View (a) Locate the origin of each frame {0} through {3} and draw their X and Z axes on the diagram based on the DH parameters convention discussed in lecture and the course reader. Please draw the solution on the the Iso view shown above. The top and side views are provided for reference only. Note that frame {3} has been done for you, and your solution should be consistent with the given frame {3}. ia-1 0-1 di 0 1 2 3 (b) Find the Denavit-Hartenberg parameters for this manipulator - that is, fill in the entries for the following table: Also, for the configuration shown above i.e. when the slider bar is parallel to the ground specify the value of 02.