Question: Using a Homogenous Transformation Matrix: (15pts) Using a Homogenous Transformation Matrix: Consider 'T1= 2 ] relating coordinate VZ 0 0 5 systems 0 & 1

Using a Homogenous Transformation Matrix:

(15pts) Using a Homogenous Transformation Matrix: Consider 'T1= 2 ] relating coordinate VZ 0 0 5 systems 0 & 1 in the usual way with Q= -1/ 1 / VZ 1 / VZ O 0 - 1/2 13 / 2 1 Vz 0 0 10 V3/2 - 1/2 and d= 5/ 2 4 Q1 Q2 centimeters. NB: Q/ and Q2 are each rotation matrices. a) Determine the numeric values of the DH parameters (01, di, a, and a) for this link (include units). b) For the point represented in coordinate system 1 by [1 0 0] centimeters, determine its representation in coordinate system 0. c) For the point represented in coordinate system 0 by [1 0 0] centimeters, determine its representation in coordinate system 1. d) For the angular velocity vector represented in coordinate system 0 by [1 0 0] rad/s, determine its representation in coordinate system 1

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