Submitted version of the thesis - Airlab, the Artificial Intelligence ...

B.3. Object’s Position Calculator 125
y=−150;
z=0;
% T rch indicates the transformation robot to chess board
T rch =[1 0 0 x
0 1 0 y
0 0 1 z ];
%transformation are rewritten for clarification
% camera to world
T cch1 =[T cch;0 0 0 1];
%world to camera
T chc = inv(T cch1 );
%world to robot
T rch1 =[T rch;0 0 0 1];
% robot to world
T chr = inv(T rch1 );
T rc=T rch1∗T chc;
T cr = inv(T rc );
T cr = T cr (1:3 ,:);
ROBOT(1 ,: ,: ,:) =T cr (1 ,: ,: ,:);
ROBOT(2 ,: ,: ,:) =T cr (2 ,: ,: ,:);
ROBOT(3 ,: ,: ,:) =T cr (3 ,: ,: ,:);
t =[1 0 0
0 1 0
0 0 0
0 0 1];
H= K∗T cr∗t ;
Hinv=inv(H);
point = Hinv∗[72 119 1] ’;
result= point/point (3);
result
%% 3−) Calibration for servo top position at ground
%tranlastion m
Tc ext = [ 100.613176 95.664945 539.117313 ];