1. In Fig. 1 the location of the tool, WT, is not accurately known. In a calibration procedure, the manipulator is driven such that the frames {G} and {T} are coincident. This is called the calibration configuration. The position of the robot, BT, is determined by reading the joint angle sensors and computing the kinematics. Assuming BT and ST are known, give the transform equation to compute the unknown tool frame WT at the calibration configuration. {B} {W} ŶT {T} {S} ✗G {G} ZG Figure 1: Calibration procedure. G ☑T ZT

1. In Fig. 1 the location of the tool, WT, is not accurately known. In a calibration procedure, the manipulator is driven such that the frames {G} and {T} are coincident. This is called the calibration configuration. The position of the robot, BT, is determined by reading the joint angle sensors and computing the kinematics. Assuming BT and ST are known, give the transform equation to compute the unknown tool frame WT at the calibration configuration. {B} {W} ŶT {T} {S} ✗G {G} ZG Figure 1: Calibration procedure. G ☑T ZT

Power System Analysis and Design (MindTap Course List)

6th Edition

ISBN:9781305632134

Author:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Publisher:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Chapter3: Power Transformers

Section: Chapter Questions

Problem 3.7P: Consider a source of voltage v(t)=102sin(2t)V, with an internal resistance of 1800. A transformer...

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