Q2) In Fig.2, The location of the tool, T is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or Goal) at loca- tionfr. Once in this "calibration" configuration (in which (G) and (T) are coincident), the position of the robot, is figured out by reading the joint angle sensors and com- puting the kinematies. Assuming T and T are known, give the transform equation to compute the un- known tool frame,T. Fig 2

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Conservation of Energy

In physics, the rule of the conservation of energy states that energy doesn’t disappear from the atmosphere; instead, it changes its form from one type to another. Energy is one of the most important physical quantities in nature, and it cannot be created or destroyed — only transformed.