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Derive passage by passage the homogeneous transform matrix 1T from the basic rotation and translation matrixes: T = coi -sei 0 ai-1 soca 1

Derive passage by passage the homogeneous transform matrix "1T from the basic rotation and translation matrixes: T = coi -sei 0 ai-1 soca 1 c0ca1 -sai-1 -s; -1di ses-1 cos-1 cai-1 cai-1di 0 0 0 1

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