Need help to solve this question 2

Question 2 (III marks) A coordinate frame {3} is located at the base of a robot manipulator. Frame {C} describes the position and orientation of a depth camera that was originally coincident with [B]- then translated ? units in 33, translated 2 units in g, translated 5 units in 23; the resulting frame is denoted by {C '}. The frame is then rotated about Z c' by 2l'.} into a new frame [C\"}. The nal transform is rotated about PC by -110 into the frame {C}. The camera detects an object having coordinates CP = [0.5 0.2 3.2]T. (a) Formulate the homogeneous transformation ET. (b) Calculate the object coordinates in frame {B}, i.e., B P. (C) Detemline BPEGRg