Question: Need help to solve this question Question 2 (III marks) A coordinate frame [3} is located at the base of a robot manipulator. Frame {C}

Need help to solve this question

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 7 units in 33, translated 2 units in Y3, translated 5 units in 23; the resulting frame is denoted by {C J'}. The frame is then rotated about fer by 20 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 I5:.\" = [0.5 0.2 3.2]T. (a) Formulate the homogeneous transformation ET. (b) Calculate the object coordinates in frame {B}, i.e., 3F'. (C) Detemne BPCDRG

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