2. This is a 3 DOF planar robot with 3 rotational joints. Derive the transformation matrix between the end-effector and the base of the robot coordinate systems. Assume the y and

z axes orientations at every joint (y axis is given) and draw your assumptions in the free body diagram. Your assumptions will vary from your fellow students, if there is an intentional match both parties will receive zero marks! (a) DH (b) Three-link, nonplanar manipulator.