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Write a matlab code to solve this question: ( b ) Referring to Figure 1 ( b ) , determine the homegeneous transformation matrix that

Write a matlab code to solve this question:

(

)

Referring to Figure

1 (

),

determine the homegeneous transformation matrix that

describes frame

C

in frame

A .

Also determine the homegeneous transformation matrix

that describes frame

A

in frame

C .

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