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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In the figure below, 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, T, is figured out by reading the joint angle sensors and computing the kinematics and given below. Assuming T and T are given below, give the transform equation to compute the unknown tool frame, WT. (W) 21
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