The location of the tool, WT, 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 location T. Once in this "calibration" configuration (in which {G}and {T) are coincident), the position of the robot, WT, is derived by reading the joint angle sensors and computing the kinematics. Assuming T and ST are known, give the transform equation to compute the unknown tool frame, WT. {B} {S} {W} 2G {G} XG 2T XT

The location of the tool, WT, 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 location T. Once in this "calibration" configuration (in which {G}and {T) are coincident), the position of the robot, WT, is derived by reading the joint angle sensors and computing the kinematics. Assuming T and ST are known, give the transform equation to compute the unknown tool frame, WT. {B} {S} {W} 2G {G} XG 2T XT

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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Concept explainers

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.

Question

The location of the tool, VT, 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 location ST. Once in this
"calibration" configuration (in which {G}and {T)
are coincident), the position of the robot, T, is
derived by reading the joint angle sensors and
computing the kinematics. Assuming T and Tare
known, give the transform equation to compute the
unknown tool frame, WT.
{B}
{S}
{W}
2G
{G}
ÎT
{T}
☆G
XT
2T

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