Given 3-degrees of freedom manipulator with prismatic joints, as well as the following questions:
![2229_fig2.png](https://secure.tutorsglobe.com/CMSImages/2229_fig2.png)
a) Assign the X and Z axes and determine the Denavit-Hartenberg parameters of this robot.
![647_table1.png](https://secure.tutorsglobe.com/CMSImages/647_table1.png)
b) Determine the A matrices of this robot.
c) What is the position of the end effector with respect to the base of the robot in the specified configuration?