(Composite Homogeneous Transformation):Suppose His defined by the following sequence of basic transformations in the order specified.
1)A rotation of about the world/fixedz-axis→H1
2)A rotation of about the currenty-axis→H2
3)A translation of about thefixedx-axis→H3
4)A translation of cabout the currentz-axis→H4

Find the composite homogeneous transformation H, by completing the following detailed steps:
a.Indicate clearly the order of each individual transformation matrix
b.Provide the matrix form of each transformation matrix, i.e., showing the 4×4matrix specifically
c.Compute the numerical values of each transformation matrix for the following angles: =45°,=−/3,=1,c=−2
d.Compute the numerical values of Hfor the above values