Question: Help me solveQuestion 1 a The base frame of a robotic system is denoted as Frame { A } ; Frame { B } is

Help me solveQuestion 1a
The base frame of a robotic system is denoted as Frame {A}; Frame {B} is attached to the end-effector in the system. The coordinates of the origin of Frame {B} with respect to Frame {A} are x=2,y=10,z=5, in which the system setting is adopted for the dimension unit. Frame {B} is rotated with respect to hat(x)A by an angle =45.
Question 1a(i)
Formulate homogeneous transformation matrix ?BAT for this kinematic analysis.
Question 1a(ii)
A position vector of Point P in Frame {B} is given by ?BP=[111]T, calculate the point position in Frame {A} based on the formulation of ?BAT.
Help me solveQuestion 1 a The base frame of a

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