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Given the Z-Y-Z Euler angle transformation R = RzaRy Rzy and a vector of Euler angles = [a.B.Y] (a) (10pts) Obtain the rotational Jacobian

Given the Z-Y-Z Euler angle transformation R = RzaRy Rzy and a vector of Euler angles = [a.B.Y] (a) (10pts)

Given the Z-Y-Z Euler angle transformation R = RzaRy Rzy and a vector of Euler angles = [a.B.Y] (a) (10pts) Obtain the rotational Jacobian B by using analytical method where = Bo. (Hint: Use the skew symmetric matrix = RRT.) (b) (15pts) Find the conditions in which the rotational Jacobian B loses its rank.

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