Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The tabletop  is 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of the table as shown. A cube measuring 20 cm on a side is placed in the center of the table with frame o2x2y2z2 established at the center of the cube as shown. A camera is situated directly above the center of the block 2m above the tabletop with frame o3x3y3z3 attached as shown. Find the homogeneous transformations relating each of these frames to the base frame o0x0y0z0. Find the homogeneous transformation relating the frame o2x2y2z2 to the camera frame o3x3y3z3.

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Fundamentals of Robotics

Robotics is a branch of computer science and engineering that deals with designing, constructing, functioning, and use of robots. The objective of robotics is to create machines that assist humans. Robotics engineering incorporates several engineering fields such as mechanical, electrical, computer, control, software, and bioengineering.