= 30

= 89

= 06

Write the matrix product that gives the resulting rotation matrix if first you rotate up about the current v-axis and then you rotate 1p about the current x-axis. You Will need to include three matrices: vat Em, and the corresponding transformation matrix. If the target object also has a displacement of ? units in the :0 direction, find the corresponding homogenous vector cl and the homogenous transformation matrix H. If a sensor is located at p1=[E' q: Lu]T. nd the position measured from frame it 1' p0}. Svnthesize the inverse of the homogenous transformation matrix H'1 and shovv the procedures that the reverse transformation can lead to p1