Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The tabletop is 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of the table as shown. A cube measuring 20 cm on a side is placed in the center of the table with frame o2x2y2z2 established at the center of the cube as shown. A camera is situated directly above the 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 frame o0x0y0z0. Find the homogeneous transformation relating the frame o2x2y2z2 to the camera frame o3x3y3z3.
Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The tabletop is 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of the table as shown. A cube measuring 20 cm on a side is placed in the center of the table with frame o2x2y2z2 established at the center of the cube as shown. A camera is situated directly above the 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 frame o0x0y0z0. Find the homogeneous transformation relating the frame o2x2y2z2 to the camera frame o3x3y3z3.
*** Note – Draw the frame rotations wherever necessary from the starting to destination frame.
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