Question: There are a robot, a desk, an object, a camera in a robot system, and they have their own frame { O 0 } ,

There are a robot, a desk, an object, a camera in a robot system, and they have their own frame {O0},{O1},{O2},{O3} respectively as shown in the figure. The desk has the height of 1 m , side length of 2 m . The frame {O2} is located at the center of the desk surface. The frame {O3} is just located right above of {O2}.
Calculate the homogeneous transformation matrix
?0A1,(from {O0} to (:{O1}},
?1A2,(from {O1} to {O2}),
?2A3,(from {O2} to {O3}),
?0A3,,(from {O0} to {O3}).
There are a robot, a desk, an object, a camera in

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