25. An accurate UT[2] setup with corresponding three-point method for a sharp-tip pointermeans that(a) the origin of UT[2] is at the tip of the pointer(b) the orientation of UT[2] is (0,0,0)(c) the origin of UT[2] is at the center of robot wrist faceplate26. The programmer activated UT[2] and UF[8] in FANUC robot system, and then recordedrobot point P[1] in the robot program. The robot arm frame transformation RTpef-TCP can bedetermined as(a) RTpef-TCP = UF10TUT|2] × ( ®TuF(e) x (Det-TCPTUT|21)Def-TCPTUT|2] × (UFIOTUT|21)x (Def-TCPTUT|2)(b) RTpef-TCP = ("TuF(0)xUF(8](c) RTpef-TCP = RTUF(e) ×UFI8TUT|2]

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25. An accurate UT[2] setup with corresponding three-point method for a sharp-tip pointer means that

Database System Concepts

7th Edition

ISBN:9780078022159

Author:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Publisher:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Chapter1: Introduction

Section: Chapter Questions

Problem 1PE

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Question

25. An accurate UT[2] setup with corresponding three-point method for a sharp-tip pointer
means that
(a) the origin of UT[2] is at the tip of the pointer
(b) the orientation of UT[2] is (0,0,0)
(c) the origin of UT[2] is at the center of robot wrist faceplate
26. The programmer activated UT[2] and UF[8] in FANUC robot system, and then recorded
robot point P[1] in the robot program. The robot arm frame transformation RTpef-TCP can be
determined as
(a) RTpef-TCP = UF10TUT|2] × ( ®TuF(e) x (Det-TCPTUT|21)
Def-TCPTUT|2] × (UFIOTUT|21)
x (Def-TCPTUT|2)
(b) RTpef-TCP = ("TuF(0)x
UF(8]
(c) RTpef-TCP = RTUF(e) ×
UFI8TUT|2]

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