Figure $10.$ robot diagram for problem under study.

In Figure $10,$ coordinate frames are attached to the base of robot arm, table corner, workpiece,

and camera with positions and orientations as shown. The workpiece is a cube object with

size $20$x$20$x$20$ cm$,$ and $\{2\}$ is attached at the cube centre. The camera is mounted directly on

top of the cube at height $2$ meters.

From Figure $10,$ attach a new frame $\{4\}$ to the robot gripper. Compute the homogeneous

transformation of $\{4\}$ w$.$r$.$t the base and camera frame when the gripper moves to position

$[11\mathrm{.}51\mathrm{.}2]^$T and has orientation Rx$,$ pi$/2$ w$.$r$.$t $\{1\}.$