5. A Coordinate frame, {A} is located at the base of a robot manipulator. Frame {B} describes the position and orientati

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5 A Coordinate Frame A Is Located At The Base Of A Robot Manipulator Frame B Describes The Position And Orientati 1 (34.38 KiB) Viewed 35 times

5. A Coordinate frame, {A} is located at the base of a robot manipulator. Frame {B} describes the position and orientation of a depth camera that was originally coincident with frame {A} and then translated 5 units in XB, -5 units in YB and 7 units in ZB. The frame was also rotated about ZB by 90 degrees. The camera detects an object having coordinates [2, 5, 7] ¹. Determine a) The rotation matrix R b) The displacement vector PORG c) The Homogeneous Transformation Matrix T d) The object coordinates in frame A (AP).