Homework #7 Due 11/14
1.
Consider our end effector shown below. Using the ten
poses of
HW#6, we exercise the arm and acquire ten
corresponding images in one of the two on-board cameras.
The
result is a table of pose angles
(just 2 angles for the 2DOF, on-board, holonomic
portion
of this system) combined with cue-center
coordinates. The cue-center coordinates are separated
according
to whether they are camera-space coordinates
of
the unique cue or one of the nonunique cues.
(a) using the forward kinematics for the unique cue as
given in class,
apply a
modification of your algorithm for HW5 to determine C1-C6
with equal weighting.
(b) List your residuals together with the converged values
of C1-C6.
2.
Choose the pose
number that is closest to the number
associated
with the first letter of your last name divided by 3. Apply your results from 1 above
to
determine the approximate dot product between unit normal n1 as indicated below and the
camera
focal axis K. Apply your results from 1 above to determine
the approximate dot product
between
unit normal n2 as
indicated below and the camera focal axis K.
