microprocessor and micro-controller.

What is an interrupt? define and explain how Transfer of Control via Interrupts?

A manipulator’s end-effector position is calculated as follows:x = q0 cos q1 + l2 cos(q1 + q2),y = q0 sin q1 + l2 sin(q1 + q2),where q0,1,2 represent joint displacements and l2 is a constant positive parameter.Which of the following describes this manipulator:1) This is a robot-manipulator with 3 revolute joints.2) This is a robot-manipulator with 2 revolute and 1 prismatic joints.3) This is a robot-manipulator with 1 prismatic and 3 revolute joints.4) This is a robot-manipulator with 2 revolute joints.   A robot’s end-effector’s tool position is defined asx = L1 cos(q1) + q3 sin(q1 + q2)where L1 = const, q1 = q1(t), q2 = q2(t) and q3 = q3(t) with t defining time. Calculate ∂x / ∂q3 1) it is impossible to calculate as the equation for the y and z positions are missing.2) cos(q1 + q2).3) it is impossible to calculate as time is not given.4) sin(q1 + q2).

11). Controllers can be divided into _____________   type, and _____________    type controllers due to their different design methods.