3. Consider frames {0}, {1} and {2} shown below. Assume that no rotation is

allowed around Y axis and the maximum angle each axis can rotate at each

time is 90 degrees.

a. Find the homogeneous transformation matrices ⓇH, and¹H₂.

b. Find H, using the relationship: "H₂="H,¹H₂.

Z₁4

1m

1m

Z₁

Z₂

Assume positive or negative rotations about the axes.

You must write the transformation equations.