help: matrix transformation for 2 robots

[enginegrad37]

hi there,
is there anyone help me with this assignment:

-2 robots and a camera in work cell= 14'×14'×7'
-table center of work cell and diameter=4' its complete revolution per 4 minutes each.
-2 robots located at the opposite corners of work space and 3' away from the wall
-camera attached the center of table and its lens is 6" below ceiling level

question:- first robot drop object on table that identified by camera, second robot's controller is required to pick up the object after 60 seconds from its being on table. first question, what are the transformation matrices for the work cell?second question, find the transformation matrix for second robot from the first question.

 

[odense]

It is quite hard to imagine what you described here. I think I can help if you can draw two robots with constrainted links and joints and you can post in the thread.
First suggestion is that you should think two robots in global coordinate in which you can write down transformation of two robot's base in rotational and translational functions so you can easily create global transformation between them. Camera is just global observer so it can be aware of fixed position!? it is right?
Cheers,
Trung