Question 2 shown below

I have attempt question 2a however incomplete. Need help to check if my solution for 2a is correct.

Need help to solve for 2b and 2c

Gh 2 (a) Formulate the homogenous transformation BT Gp= 05 0.2 32 ] Combining Eq. (1) and Eq. (2), we obtain Cp = 0-5 02 32 Finding coachantes of point "B" BP = BTC - Up Ist Question indicate ( translation ) - too translated funits in XB translated - z units in translated 5 units in 0 0 7 O 0 - 2 O 15 O O and ( Rotation ) . BC - 70 by - 20 coser sing O cos ( 20 ) - sin ( - 20 ) 0 Ropekay (-20) Zo (- 20 ' ) = cos @ sin (-20 ) cos (- 20 ) 0 O O O 10 0 43969 0 .34202 O -0 34202 0. 93969 O O O\fQuestion 2 (10 marks) A coordinate frame {B} 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 23, translated 2 units in g, translated 5 units in 23; the resulting frame is denoted by {C '}. The frame is then rotated about 26: by 20 into a new frame {C \"}. The nal transform is rotated about f'cn 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., 3P. (c) Determine BPCORg