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Question: A robotic work cell has a camera with in the setup. The origin
of…
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A robotic work cell has a camera with in the setup. The origin
of the six joint robot fixed to a base can be
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seen by the camera. A
cube placed on the work cell table is also seen by the camera. The
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homogenoustransformation matrix T1maps the camera with the cube
centre. The origin of the base
link
coordinate system as seen from the
camera is represented by the homogeneous transformation system T2.
10 1021 008T0 01 70
001=−2100801015T00160001−−=−a.What is the
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position and orientation of the cube with respect to the base
coordinate system?b.After the system has automated text message with a link to get the app. Standard
been setup, some one
roates the camera 90° about the z-axis of the camera. What is the
position and messaging rates may apply.
orientation ofthe camera with respect to the robot’s
base coordinate system?
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Solution:
(a)So given the homogenous transformation matrix T1
since the camera is rotated by 90 about the z axis -
Hence rotatioan matrix is given as -
Hence the new position can be given as -
given is the new position of the camera ..
(b)
Since object is rotatated by 90o about x-axis
Hence-
Since given robot is translated 4 units by rotated system -
Hence the object is -
Robot new position -
Distance between roatated cordinate -
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