The figure shows a robot whose base is 1m away from the base of the table. The table is 1m height and its surface is a square. Frame {1} is fixed on a corner of the table. A 20 cm cube is located on the middle of the table, and it has frame {2} attached to its center. A camera is located 2m above the table, just over the cube, and it has frame {3} attached to it. a) Find the homogeneous transformations that relate each of these frames with the base system {0} b) Find the homogeneous transformation that relates the cube frame {1} with respect to the camera frame {3} Robot-Base "frame-0" To Table "frame-1" x1 1m Y3 X2 7/ 1m 23 Camera "frame-3" x3 Object "frame-2" Y/2 1. 1m 2m 1m