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1. Given coordinate systems: XiyiZi , X2yzZ2 , X3/373 and X4y4Z4 as shown below, generate the homogeneous transforms A,, A3, and A, by inspection and

1. Given coordinate systems: XiyiZi , X2yzZ2 , X3/373 and X4y4Z4 as shown below, generate the homogeneous transforms A,, A3, and A, by inspection and generate A, by matrix multiplication. Y 3 Y1 X3 5 12 Z3 XA Z2 6 X1 ZA 3 Y 2 Z1 X2

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