3. This is a 3 DOF spatial robot with 2 rotational joints and 1 translational joint in the reference pose. [3 marks] Yo dz Please answer the follow questions using the

DH method: a) Define all the required coordinate systems associated with each joint and derive link parameters based on the DH method. [y-axis direction is given; you have to assume the other axes directions] (0.5 mark) b) Derive the transformation matrix between the end-effector and the base coordinate system ³Ho. (1.5 mark) c) Calculate the coordinates of the point C and draw the corresponding configurations based on the values of parameters and variables given: 1₁ = 12 = 13= 6, 0₁-30°, 0₂ = 60° and assume d3 (1 marks).