How do I find the forward kinematics of a 3R manipulator using DH parameters?

__The final equations are given below. I want to know the procedure. Please help.">How to find the forward kinematics of a 3R manipulator using DH parameters? The final equations are given below. I want to know the procedure. Please help.__

x = cos θ1(L2 cos θ2 + L3 cos θ23) y = sin θ1(L2 cos θ2 + L3 cos θ23) z = L1 + L2 sin θ2 + L3 sin θ23, where θ23 = θ2 + θ3.

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