Question: Question 2 a ) Find initial homogenous transformation g 1 2 ( 0 ) to for frame 2 w . r . t . frame

Question 2
a) Find initial homogenous transformation g12(0) to for frame 2 w.r.t. frame 1.
b) Write the screw parameters for the motion of frame 2 w.r.t. frame 1.
c) Express the corresponding twist parameters.
d) Find the forward kinematics matrix based on the product for frame 2 w.r.t. frame 1.
Question 2 a ) Find initial homogenous

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