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Problem 1: Referring to figure, compute the homogenous transforms [T 30° ZAYs Yc Xc 381 Problem 1: Referring to figure, compute the homogenous transforms BTA , CTA, CT B Using sin and cos as per the laws of homogenous transforms and rotations.

PBorG - T= L0001

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By referring the figure.,the question is solved here. From the Fiure , Given tha t The hcmogeneous tra hsForms ABT. Ac T.&T 4 2. Hsmogneus tonsfoumation Matix CH is equals to trans (a , bć) . [ o o al OOcThe Displa cemen t lransatio nal d is con be written by d-ai+bj-+ clk Homo eneous trane fosmation rnatsix an İta Fo Finding Now assume A ° 9h Fo Findiną Now AT and d 3i- ujak 0 o o Finding. 6: (3,o, 2) and d - 3 i +oj+o 6 033

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