Fig. 2 shows a configuration for a 3R manipulator (Fig. 2 shows zero configuration). Find the D-H parameters and compute the forward kinematics map (for this purpose, you can use Mathematica with your own writeup.) Note that there can be several choices about frame 0. Here assume that frame 0 coincides with frame 1 in zero configuration. Zo Lo YTTTTT Xo 0 21 02 L X L2 X3 Y3 Z3 Figure 2: 3R robot manipulator 03