Answer Happy

I NEED ANSWER FOR ALL PART PLEASE. ROBOTICS COURSE
For the three-link manipulator shown in Figure P.3, a. Assign the coordinate frames base on D-H representation. b. Fill out the parameters table. c. Write all the A matrices. d. Write T3 matrix in terms of the A matrices. L4 L3 x2 Xo 8 Zo X₁ Z₁ Yo L₂ L₁ Figure P3 22 X3 Z3