Page 365 - Concise Encyclopedia of Robotics

Zooming
In wrist-force sensing, the y axis refers to inward/outward linear force
vectors. Compare X AXIS and Z AXIS.
See also CARTESIAN COORDINATE GEOMETRY and WRIST-FORCE SENSING.
Z AXIS
The term z axis has various meanings in mathematics, computer science,
and robotics.
In Cartesian 3-space, the z axis represents the dependent variable, which
is a function of x and y, the two independent variables. The z axis runs
vertically, while the (x, y) plane is horizontal, as shown in the illustration.
A function f maps values x and y into values z, such that z = f (x, y).
z
y
x

z axis

In wrist-force sensing, the z axis refers to up/down (vertical) linear
force vectors. Compare X AXIS and Y AXIS.
See also CARTESIAN COORDINATE GEOMETRY and WRIST-FORCE SENSING.
ZOOMING
In a robotic vision system, the term zooming refers to magnification of the
image. If you want to look at a certain part of the screen in more detail,
you can zoom in on it.
The illustrations show a hypothetical, infinitely complex shoreline or
boundary. The lowest magnification is at the top left. Zooming in on a
specific part of this graphic, more detail is revealed (top right). The
zooming process is repeated, revealing still more detail (lower illustration).
Because the boundary is irregular at all scales, the zooming can be done
over and over indefinitely, and there is always new detail in the image.
Zooming, while increasing the magnification in theory, can increase
the resolution only up to a certain point, depending on the quality of the
optical system used. In general, the larger the lens diameter, the better is

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