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Question: A Robotic Work Cell Has A Camera With in The Setup. The Origin of

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283 views2 pages

Question: A Robotic Work Cell Has A Camera With in The Setup. The Origin of

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Anmol Thakur Ast
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home / study / engineering / computer science / computer science questions and answers / a robotic work cell has a camera with in the setup. the ori…

Question: A robotic work cell has a camera with in the setup. The origin
of…

Snap a photo from your


A robotic work cell has a camera with in the setup. The origin
of the six joint robot fixed to a base can be
phone to post a question
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
By providing your phone number, you agree to receive a one-time
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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423 answers

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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