A coordinate frame {B} is located at the base of a robot manipulator. Frame {C} describes the
position and orientation of a depth camera that was originally coincident with {B} then
translated - 1 unit in g, translated 2 units in Pg, translated 3 units in 2g; the resulting frame
is denoted by {C'}. The frame is then rotated about & by 45° into a new frame {C"}. The
final transform is rotated about fe by -45° into the frame {C}. The camera detects an object
having coordinates P = [1.0 1.0 1.01.
(a) Determine PCORG
(b) Formulate the homogeneous transformation T.
(c) Calculate the object coordinates in frame (B), i.e., BP. You can use hand calculation or
computer calculation (by PYTHON or MATLAB). Please provide your source code if you
use computer calculation.
Fig: 1