1) For each robotic arm with three degrees of freedom shown below, (A) assign frames {1) through (2) satisfying the assumptions of the DH parameters at their origins represented in black circles (i

1) For each robotic arm with three degrees of freedom shown below, (A) assign frames {1) through (2) satisfying the assumptions of the DH parameters at their origins represented in black circles (i.e. attach two XYZ coordinate systems, {1) and {2} at the black circles on the sketches below and their origins might be coincident.), (B) fill the tables below for their D-H parameters, and (C) find .2, HI, and 113, then calculate HY, the homogeneous transformation matrix of each robot by hand (do not use Matlab or any other software for your answer or submit any codes while you can use Matlab to confirm your answer). Note: Specify each joint variable and 'L' and 'H' are non-zero parameters. (25 points each)