The textbook I'm using doesn't have the answers to the practice questions, so I'm not sure how I'm doing. Are the following DH parameters correct given the frames I assigned?
The original question is as follows: The arm with 3DOF shown below is like the one in example 3.3, except that joint 1's axis is not parallel to the other two. Instead, there is a twist of 90 degrees in magnitude between axes 1 and 2. Derive link parameters and the kinematic equations for $^bT_w$ (where b means base frame and w means wrist frame).
$$\begin{array}{ccc} & const. & and & & \\ & angle & distance & & \\ i & \alpha_{i-1} & a_{i-1} & d_i & \bf{\theta_i} \\ \\ 1 & 0 & 0 & 0 & \theta_1 \\ 2 & -90 & L_1 & 0 & \theta_2 \\ 3 & 0 & L_2 & 0 & \theta_3 \\ \end{array}$$
Frame Assignments: