YC

 XC
 ^y 4 x,





 SOC z Z

 Lens




Figure 5.3. Lens imaging geometry.


where

 -/ 0 0 0
 'z
 0 J/ 0 0
 T= z
 0 0 -f/
 0001
 (5-6)

 pc =[ x y z 1 F,and

 pi= x, yi zi 1 F.

Calculating xi and yi, the relationship between the actual position of the fruit and the position

of the fruit's projection on the image plane was established,

 xi = x (-f/z), and

 yi = y (-f/z)

A change in the fruit's position in the camera frame resulted in a position change of the image

in the image array scaled by the -f/z factor.


 Vision-Servo Kinematics

 In the end-effector of the robot, the camera was mounted in such a way that its optical

axis was coincident with Z3. The later addition of the ultrasonic ranging horn required that the