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

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

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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Q2 In Fig.2, The location ef the tool, r is not necurately knowa. Using foree control, the robot feels around with che tool tip until it inserta it into the sochet (or Goal) at loca tiongr. Once in this "calibratice" configarationa Cin which (G) and (T) are coincident), the position of the robor, is figured out by reading the joint angle sensors and com- puting the kinematics. Assuming T and T are known, give the transform equation to coupule the un- ksown tool frame. 77. Fig2
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