The transformation of matrices for an object $($ obj $)$ and a robot hand $(R)$ with respect to a universal

frame are given below

${?}^U{T}_{\text{o}\text{b}\text{j}}=\left[\begin{array}{cccc}1& 0& 0& 1\\ 0& 0& -1& 4\\ 0& 1& 0& 0\\ 0& 0& 0& 1\end{array}\right],{?}^{?}$

$u{T}_R=\left[\begin{array}{cccc}0& -1& 0& 2\\ 1& 0& 0& -1\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

$($a$)$ Find the transformation between the robot hand and the object

$($b$)$ Assume the robot is a Cartesian$-$Euler. Find the necessary transformations that move the robot hand

on the object