2. Draw HGL&EGL. Tank 1 Tank 2 Tank 3

Derive the mobile kinematics, K, of a car-like robot with Ackermann steer- ing as given below, where the controls are forward speed (advance con- trol) v and heading direction turning speed (turn control) w, and 1. L {s} Tmin COR ġ = V [{]-[8] = K (x, y) Ackermann steering

5. When two frames have the same orientation, then the (W,P,R) values of their corresponding frame transformations are (a) zero (b) non-zero 6. The robot programmer sets up UT[1] for a sharp-tip pointer that is held by the robot gripper. If UT[1] is accurate, it means that (a) UT[1] is activated in the robot system (b) The origin of UT[1] frame in the robot system is exactly at the tip of the actual pointer (c) The origin of UT[1] is aligned with the origin of Def-TCP frame

Please assist with this practice question 9. I don't know where to begin with this. Give details on how to do. Thank you.