Q3) For the Fig. Q3 shown below: (15 Mar 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 3T in terms of T matrices. 02 d2 Fig. 23 Given: The general form of the Forward Kinematics (Link Transformation matrix): 1-41 .-1 = sesa -1 c0;s; -1 c;-1 co; -so; 0 lli-1 s;cai-1 c, cay-1 -sai-1 -sai-1d. s0;sQ& -1 c;-1d 0 0 0 1 ..Good Luck ........... Q3) For the Fig. Q3 shown below: (15 Mar 1- Assign the coordinate frames base on D-H representation. 2- Fill out the parameters table. 3- Write all the T matrices. 4- Write 3T in terms of T matrices. 02 d2 Fig. 23 Given: The general form of the Forward Kinematics (Link Transformation matrix): 1-41 .-1 = sesa -1 c0;s; -1 c;-1 co; -so; 0 lli-1 s;cai-1 c, cay-1 -sai-1 -sai-1d. s0;sQ& -1 c;-1d 0 0 0 1 ..Good Luck