Frames describing the base of a robot and an object are given relative to the Universe frame.
- Find a transformation ${ }^R T_H$ of the robot configuration if the hand of the robot is to be placed on the object.
- Assuming that the robot is a six-axis robot with Cartesian and RPY coordinates, find $p_x$, $p_{y p} p_z, \phi_a, \phi_o, \phi_n$
$$
{ }^u T_{a b j}=\left[\begin{array}{cccc}
0 & 0.707 & -0.707 & 0 \\
-0.866 & -0.3535 & -0.3535 & 0 \\
-0.5 & 0.6123 & 0.6123 & 0 \\
0 & 0 & 0 & 1
\end{array}\right]{ }^u T_R=\left[\begin{array}{llll}
1 & 0 & 0 & 3 \\
0 & 1 & 0 & 6 \\
0 & 0 & 1 & 1 \\
0 & 0 & 0 & 1
\end{array}\right]
$$