Biomedical Engineering Reference
In-Depth Information
10
c
3
Camera
O
C
c
1
c
2
15
O
s
Shoulder
24
Joystick
O
J
5
FIGURE 2.10
A digital human whose eyes are replaced by a camera.
The transformation matrix of the coordinate system embedded in the shoulder
with respect to the camera is given as
2
4
3
5
001 0
100 0
010
2
15
000 1
C
T
S
5
(2.37)
It is required to:
i.
Sketch the unit basis vectors
j
1
,
j
2
, and
j
3
in the correct orientation at the
.
ii.
Sketch the unit basis vectors (
origin
O
j
of the joystick
J
s
1
,
s
2
,
s
3
) in the correct orientation at the origin
.
iii.
Calculate the coordinates of the Joystick origin
O
j
relative to the shoulder
O
S
of the shoulder
S
S
.
iv.
Determine the transformation matrix
S
as seen by the
shoulder, when the hand is positioned to grasp the cube, as shown in
Figure 2.11
.
T
H
for the hand
H
C
With regards to (i) and (ii) above, since the rotation matrix
R
J
extracted
from
C
T
J
is given by
2
4
3
5
010
001
100
C
R
J
5
(2.38)
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