Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The tabletopis 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of the table asshown. A cube measuring 20 cm on a side is placed in the center of the table with frameo2x2y2z2establishedatthecenterofthecubeasshown.Acameraissituateddirectlyabovethe center of the block 2m above the tabletop with frame o3x3y3z3 attached as shown.Find the homogeneous transformations relating each of these frames to the base frameo0x0y0z0.Findthehomogeneoustransformationrelatingtheframeo2x2y2z2tothecameraframeo3x3y3z3. *** Note – Draw the frame rotations wherever necessary from the starting to destination frame.
Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The tabletopis 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of the table asshown. A cube measuring 20 cm on a side is placed in the center of the table with frameo2x2y2z2establishedatthecenterofthecubeasshown.Acameraissituateddirectlyabovethe center of the block 2m above the tabletop with frame o3x3y3z3 attached as shown.Find the homogeneous transformations relating each of these frames to the base frameo0x0y0z0.Findthehomogeneoustransformationrelatingtheframeo2x2y2z2tothecameraframeo3x3y3z3.
*** Note – Draw the frame rotations wherever necessary from the starting to destination frame.
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