Write AutoCAD commands for drawing the following figure. If you know the figure is start from original point (10, 10). Note: use Relative Cartesian Coordinate

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

All problems will use the conventional Cartesian coordinate system unless noted otherwise. Positive x-axis points to the right, Positive y-axis points up, Angles are measured CCW (counter-clock-wise) from the positive x-axis. Problem-BB: Consider FIG-BB in the appendix. AC is a rope. BC is a rope. “C” is a steel ring. “D” is a perfect pulley. A continuous rope connects “C” to the mass.   Calculate the internal forces within each rope.

A) Express the following values as vectors: forces at A and B, the displacement vectors OA and OB, and the applied moment. B) What is the total moment of the 600 lb and 25001b forces about O? C) Express the force/couple system shown in the figure 1 with an equivalent system consisting of a moment and a resultant force through 0.