Question 1 [30%]
The initial location and orientation of a robot’s hand are given by T1, and its new location and orientation after a change are given by T2.
a) Construct a transformation matrix Q that will accomplish this transform (in the Universe frame).
b) Assuming the change is small, determine a differential operator that will do
the same.
c) By inspection, solve the differential translation and a differential rotation that constitute this operator.
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