3) Consider the robotic tool shown in Fig. 2. Suppose we yaw the tool by πt about f', then pitch the tool by -π/2 about £2, and finally roll the tool by π/2 about f³. a) Sketch the sequence of tool positions after each of the yaw, pitch and roll movements. b) Find the transformation matrix Twhich maps tool coordinates M following the sequence of rotations. c) Find [p], the location of the tool-tip p in wrist coordinates F following the sequence of rotations, assuming that the tool-tip coordinates in terms of the tool frame are [p] = [0,0,0.8] f', m' 1³, m³ Tool Roll Wrist 12,m² Yaw Pitch Fig. 2 Yaw, pitch and roll of tool.