Question: Problem 1 A cylindrical coordinate system includes two linear translations and one rotation. The sequence is a translation of r along the x - axis,

Problem 1
A cylindrical coordinate system includes two linear translations and one rotation.
The sequence is a translation of r along the x-axis, a rotation of \alpha about the z^(-)
axis, and a translation of l along the z-axis, as shown in the figure.
Determine the three transformation matrices.
Obtain the whole transformation matrix using transformation arithmetic.
Suppose we desire to place the origin of the hand frame of a cylindrical robot
at [4,5,6]^(T). Calculate the joint variables of the robot and the transformation
matrix.
From the result of 3
Problem 1 A cylindrical coordinate system

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