1. Mechanical structure of 3-DOF RPY wrist is shown in Figure 1 Joint 1 Joint2 Arm end Roll Pach Joint 3 Yaw Tool point P Figure 13-DOF RPY wrist configuration a. Formulate the forward kinematic model and describe the steps for frame assignment to the links of the given manipulator. (10 Marks) b. Determine the D-H parameters of the tool point P with respect to the base for the 3 DOF manipulator (10 Marks) c. Compute the orientation and position of the too point P for the displacement variable e1-60°, e2-120° and e3=30º. (10 Marks)