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

126 Appendix B. Documentation of the programming
%rotation matrix
Rc ext = [ 0.025851 −0.998468 0.048927
−0.364120 −0.054986 −0.929727
0.930993 0.006219 −0.364984 ];
%transformation of camera to chess board
T cch=[Rc ext Tc ext ’];
% K internal camera parameters−from image toolbox
K=[191.71462 0 80.35911
0 191.27299 61.27650
0 0 1 ];
% x,y,z the distance of the chess board from the robots center in mm.
x=600;
y=−100;
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