Question: A mobile robot is moving within a warehouse making stops at multiple two stations denoted by frames {S1} and {52} in the diagram below. The

A mobile robot is moving within a warehouse making stops at multiple two stations denoted by frames {S1} and {52} in the diagram below. The world frame {W} represents a fixed reference frame in the warehouse. Frame {51} is defined with respect to frame {W} by a translational component (=2; 3) and a rotation of m /4, while frame {S2} is defined with respect to frame {S1} by a translational component (3;1) and a rotation of /4

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