Question: a) Find initial homogenous transformation g12(0) to for frame 2 w.r.t. frame 1. b) Write the screw parameters for the motion of frame 2

a) Find initial homogenous transformation g12(0) to for frame 2 w.r.t. frame 1. b) Write the screw parameters

a) Find initial homogenous transformation g12(0) to for frame 2 w.r.t. frame 1. b) Write the screw parameters for the motion of frame 2 w.r.t. frame 1. c) Express the corresponding twist parameters. d) Find the general homogenous transformation for frame 2 w.r.t. frame 1. to BASE Z Y PRISMATIC JOINT 2 8 da da

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