Frames describing the base of a robot and an object are given relative to the universe frame.

a$)$ Find a transformation RTH $($i$.$e Robot relative to hand$),$ of the robot configuration if the hand of

the robot is to be placed on the object.

b$)$ By inspection, show whether this robot can be a $3-$axis spherical robot, and if so$,$ find $\backslash$alpha $,\backslash$beta $,$ r$.$

c$)$ Assuming that the robot is a $6-$ axis robot with Cartesian and Euler coordinates, find Px$,$ Py$,$ Pz$,$

$,,.$

Utobj $=[$

$1001$

$0014$

$0100$

$0001]$

UTR $=[$

$0102$

$1001$

$0010$

$0001]$