Q$9.$ A robot work station is as shown below. The coordinates of the origin of the camera $f^w=2^{**+t}$AAv$=8(x1,yl,zl)$ with respect to the base frame $B=(x2,y2,z2)$ are determined the camera frame $C=(30,40,54)cm.$ The focal distance of the camera is $f=2cm$ and the heighted from measurement as

$($a$)$ Find the coordinate of the $*p\text{'}$ with of the image of $\text{'}$ p $\text{'}$ withe point $\text{'}$ P $\text{'}$ with respect to the robot base frame B $,$ if the coordinate

$($b$)$ The

$($b$)$ The origin of the part's coordinate frame is at point $\text{'}$ M $\text{'}$ as shown in the figure below, and it is located at the centre of the part $($on the top surface$).$ Suppose the coordinates of the image of $M$ with respect to the camera frame are $M$ image $=[-0\mathrm{.}04,-0\mathrm{.}02,0,1].$ What are the

$$r$1$ a

dimensions of the part $($the top surface is a square$)?$