Q2 In Fig.2, The location ef the tool, r is notnecurately knowa. Using foree control, therobot feels around with che tool tip until itinserta it into the sochet (or Goal) at locationgr.Once in this "calibratice" configarationaCin which (G) and (T) are coincident), theposition of the robor, is figured out byreading the joint angle sensors and com-puting the kinematics.Assuming T and T are known, give thetransform equation to coupule the un-ksown tool frame. 77.Fig2

Express the position of robot at TWB. {G} and {T} are coincident, i.e., {G} = {T} ⇒ TWB.TTW =…

Answered: Assuming T nd r are known, glve the…

Engineering

Mechanical Engineering

Assuming T nd r are known, glve the trarsform equation to coapule the un- ksowe tool fraine. 7.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Question

Q2 In Fig.2, The location ef the tool, r is not
necurately knowa. Using foree control, the
robot feels around with che tool tip until it
inserta it into the sochet (or Goal) at loca
tiongr.
Once in this "calibratice" configarationa
Cin which (G) and (T) are coincident), the
position of the robor, is figured out by
reading the joint angle sensors and com-
puting the kinematics.
Assuming T and T are known, give the
transform equation to coupule the un-
ksown tool frame. 77.
Fig2

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