I have been trying to solve this 3D mechanics problem, but can't seem to be able to figure out what the best way to do it is.
I have this $3D$ robot manipulator with $3$ rotary joints $(B, C, D)$. I would like to work out the $3D$ position coordinates of the joints $B, C$ and $D$ relative to the end effector $A$ (of known position $0,0,0$ and given orientation). The orientations and lengths of the links $L1, L2$ and $L3$ are known.
What would be the easiest way to solve this? Is it necessary to use transformation matrices or is there an easier way to do it using $3D$ geometry? Thank you for your time!