Question 1 [30%]
The initial location and orientation of a robot’s hand are given by T1, and its new location and orientation after a change are given by T2.

a) Construct a transformation matrix Q that will accomplish this transform (in the Universe frame).

b) Assuming the change is small, determine a differential operator that will do
the same.

c) By inspection, solve the differential translation and a differential rotation that constitute this operator.