In Figure 3.28 in the text, assume you have assigned a Gripper frame {T} at the center point between the parallel jaws of the gripper (you can appropriately assign the axes). You can appropriately put the Goal frame {G} at the center of the cube. Now imagine that the gripper has to grasp the cube object approaching vertically from the top so that the gripper midpoint is smack at the center of the top face of the cube. Assume that the orientations of B, S, and G frames are identical.
Furthermore, BW T, WT T, BS T, and SGT are known. Assume appropriate distances where needed, and determine the desired BT T for the robot to grasp the cube.
Camera
Tool frame
-Pin
Wrist frame
Station frame
Goal frame
Base frame
FIGURE 3.28:
Example of the assignment of standard frames