Q4 10 Points Consider the robotic system below which consists of a robotic arm (R) and a camera (C) fixed in place on th

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Q4 10 Points Consider The Robotic System Below Which Consists Of A Robotic Arm R And A Camera C Fixed In Place On Th 1 (30.47 KiB) Viewed 31 times

Q4 10 Points Consider The Robotic System Below Which Consists Of A Robotic Arm R And A Camera C Fixed In Place On Th 2 (50.12 KiB) Viewed 31 times

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Q4 10 Points Consider the robotic system below which consists of a robotic arm (R) and a camera (C) fixed in place on the arm in a two- dimensional environment as shown below. Furthermore, consider an object in the environment (O) as shown below. The coordinate frames attached to the robot, the camera and to the object are also shown below. The environment consists of 1 metre by 1 metre cells as shown.
1m Y } 1m Choose files No file chosen R X C X O When answering the questions below, the following equalities may be useful: sin (0) = cos(π/2) = sin() = cos(3π/2) = 0 cos (0) = sin(π/2) = 1 cos(T) = sin(3/2) = -1
Q4.1 3 Points The robot R uses the camera C to perceive the environment, calculate the static 3x3 transformation matrix expressing the pose of C in R's coordinate frame. ? ? ? RTC = ? ? ? ? ? ? Please select file(s) Select file(s) Save Answer
Q4.2 3 Points Choose files No file chosen Assuming that the camera can detect the pose of object O, calculate the 3x3 transformation matrix expressing the pose of object O in C's coordinate frame. ? ? ? С ТО ? ? ? ? ? ? Please select file(s) Select file(s) Save Answer =
Q4.3 4 Points The robotic arm needs to reach and grasp object O. Using To. calculate the 3x3 transformation matrix expressing the pose of O in R's coordinate frame. Write the required expression exploiting both To and RTC and finally provide the resulting transformation matrix for To. [? ? ? ? ? ? RTo=?= ? ? ? Please select file(s) Save Answer Select file(s)