9. 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 X, -5 units in Y and 7 units in Z of frame {B}. The frame was also rotated about Z axis in frame {B} by 60 degrees. The camera detects an object having coordinates [3, 4, 5] in frame {B}. Determine The rotation matrix R The displacement vector PBORG The Homogeneous Transformation Matrix T The object coordinates in frame {A} ( ^P ).

9. 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 X, -5 units in Y and 7 units in Z of frame {B}. The frame was also rotated about Z axis in frame {B} by 60 degrees. The camera detects an object having coordinates [3, 4, 5] in frame {B}. Determine The rotation matrix R The displacement vector PBORG The Homogeneous Transformation Matrix T The object coordinates in frame {A} ( ^P ).

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Question

Please assist with this practice question 9. I don't know where to begin with this. Give details on how to do. Thank you.

9.
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 X, -5 units in Y and 7 units in Z of frame {B}. The
frame was also rotated about Z axis in frame {B} by 60 degrees. The camera detects an
object having coordinates [3, 4, 5] in frame {B}.
Determine
The rotation matrix R
The displacement vector ^ PBORG
The Homogeneous Transformation Matrix T
B
The object coordinates in frame {A} ( ^P ).

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