1. Find out the homogeneous transformation matrices to describing the pose of the

Oo frame with respect to the frame 03.

Assume the axes orientations at O₁, O2 and O3 any combination other than in

Lecture 4 PDF file (week 4 & 5), slides 24 & 25.

Consider O:(x0,0,zo), assume the values of xo and zo. Similarly, assume the O₂

and O3 axes scaling as per the xo and zo initially assumed values.

Your assumptions will vary from your fellow students, if there is an

intentional match both parties will receive zero marks!

0₁