I am a uncertain about how to compute the right homogeneous transformation matrix to compute an inverse kinematic Q-configuration.
Where at the end of this robot I have a camera mounted on to it.
The purpose of my application is to make the robot follow an object, so basically tracking it. The camera provide me with an X,Y,Z coordinate, which the position i want place my robot arm.
First question - How do i set up the desired homogenous transformation matrix?
The way i see it, I have 2 transformation matrices being
T_world_tool which become
T_world_base = (T_tool_base) (T_world_tool)
My question is that how do i compute my desired transformation matrix. I think i know how i should setup the transformation matrix for the camera which would be like this
0 0 0 x
0 0 0 y
0 0 0 z
0 0 0 1
(Second question is regarding the rotation matrix, how do prescribe such that rotation in arbitrary as long the endpoint has the desired position in the world frame?)
but what should t_tool_base entail? should it entail the transformation of its current state or the desired transformation, and if so how do i extract the desired t_tool_base transformation?...