Four reference frames are shown in the robot workspace of Figure 1: the fixed frame {a},...

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Four reference frames are shown in the robot workspace of Figure 1: the fixed frame {a}, the end-effector frame {b}, the camera frame {c} and the workpiece frame {d}. {c} {b} Zb (d} Sa |{a} Find: Determine the following: (a) Tad and Ted in terms of the dimensions given in the figure. (b) Tab given that [1 0 0 47 0 100 0 0 1 0 0 0 0 1 Tbc Four reference frames are shown in the robot workspace of Figure 1: the fixed frame {a}, the end-effector frame {b}, the camera frame {c} and the workpiece frame {d}. {c} {b} Zb (d} Sa |{a} Find: Determine the following: (a) Tad and Ted in terms of the dimensions given in the figure. (b) Tab given that [1 0 0 47 0 100 0 0 1 0 0 0 0 1 Tbc