ABS is the absolute coordinate system, CSYS-R is a local (work) coordinate system at the Red block, CSYS-G is a local (work) coordinate system at the Green block, CSYS-B is a local (work) coordinate system at the Blue block. Coordinates of PB = (-13.00, 2.15, -4.10)

TG TA T4 zc TR ABS YC TA 0 -.71 .71 -159.6 0 -.71 -.71-105.2 0 0 .71 0.71-24.9 .71 0-.7123.9 .71 0.71-112.8 .71 0 -.71-58.4 2.15G 0 1 0 23.8 B 1 1 39.6 Find: TK , T ,PG ,DR , and PA TG TA T4 zc TR ABS YC TA 0 -.71 .71 -159.6 0 -.71 -.71-105.2 0 0 .71 0.71-24.9 .71 0-.7123.9 .71 0.71-112.8 .71 0 -.71-58.4 2.15G 0 1 0 23.8 B 1 1 39.6 Find: TK , T ,PG ,DR , and PA