A robot is moving in a 2D planar world coordinate plane. Starting from the initial point, the robot has reached point (4,5) with a heading angle of 30° relative to the x-axis. The robot's body frame is oriented in such a way that its x-aris aligns with the direction of the robot's heading angle, and the y-axis is to the left of the robot. At that point, a sonar sensor, which is placed at (2, 1) w.r.t. body coordinate with an orientation 45° from the robot heading, has detected a point object 2 i.e. (2,0) meters directly in front of the itself. A robotic arm is also placed on the robot. The end-effector of this arm is located at (3,−1) w.r.t. robot body frame and aligning its y-axis with x-axis of body frame i.e. rotated 90° clockwise direction. b) A map is generated in the world coordinate frame by the information coming from the robot. Where should this object be located in the map?
A robot is moving in a 2D planar world coordinate plane. Starting from the initial point, the robot has reached point (4,5) with a heading angle of 30° relative to the x-axis. The robot's body frame is oriented in such a way that its x-aris aligns with the direction of the robot's heading angle, and the y-axis is to the left of the robot. At that point, a sonar sensor, which is placed at (2, 1) w.r.t. body coordinate with an orientation 45° from the robot heading, has detected a point object 2 i.e. (2,0) meters directly in front of the itself. A robotic arm is also placed on the robot. The end-effector of this arm is located at (3,−1) w.r.t. robot body frame and aligning its y-axis with x-axis of body frame i.e. rotated 90° clockwise direction. b) A map is generated in the world coordinate frame by the information coming from the robot. Where should this object be located in the map?
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
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![1. A robot is moving in a 2D planar world coordinate plane. Starting from the initial
point, the robot has reached point (4,5) with a heading angle of 30° relative to the
x-axis. The robot's body frame is oriented in such a way that its x-aris aligns with
the direction of the robot's heading angle, and the y-axis is to the left of the robot.
At that point, a sonar sensor, which is placed at (2, 1) w.r.t. body coordinate with
an orientation 45° from the robot heading, has detected a point object 2 i.e. (2,0)
meters directly in front of the itself. A robotic arm is also placed on the robot. The
end-effector of this arm is located at (3,-1) w.r.t. robot body frame and aligning its
y-axis with x-axis of body frame i.e. rotated 90° clockwise direction.
b) A map is generated in the world coordinate frame by the information coming
from the robot. Where should this object be located in the map?](/v2/_next/image?url=https%3A%2F%2Fcontent.bartleby.com%2Fqna-images%2Fquestion%2F66812d57-407d-495b-adda-b8b4198f2c68%2F0ed56861-e72b-4ce8-9093-772a219cbff9%2Fdwn4yc2_processed.png&w=3840&q=75)
Transcribed Image Text:1. A robot is moving in a 2D planar world coordinate plane. Starting from the initial
point, the robot has reached point (4,5) with a heading angle of 30° relative to the
x-axis. The robot's body frame is oriented in such a way that its x-aris aligns with
the direction of the robot's heading angle, and the y-axis is to the left of the robot.
At that point, a sonar sensor, which is placed at (2, 1) w.r.t. body coordinate with
an orientation 45° from the robot heading, has detected a point object 2 i.e. (2,0)
meters directly in front of the itself. A robotic arm is also placed on the robot. The
end-effector of this arm is located at (3,-1) w.r.t. robot body frame and aligning its
y-axis with x-axis of body frame i.e. rotated 90° clockwise direction.
b) A map is generated in the world coordinate frame by the information coming
from the robot. Where should this object be located in the map?
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