The simplified robot arm model is given in the following: * = [5 -5 x + |u; y = [03]x 1 Is the system defining the robot arm model observable? O a. Yes O b. No ○ c. Not possible to determine Od. None of the above

For the two link manipulator shown below, the force acting on the origin of frame 2 is: F=f, f$ O Save X, L2 X, L, , Z2 *Zo,1 O [fi cos®2] Lf; sind2 O [ facos01 fysind1 fx O [ fa sind2 [ fycos02

Consider the robotic arm placed on the zy-place as shown below. Let O be the origin and assume that joint A is on the y-axis. It is given that |OA|-0.6 m. |AB|-1.3 m, IBC) - 1.7 m, ICD-1.2 m, [DE] -0.4 m, ZOAB 160°, ZABC-43° and ZBCD-120°. It is also given that DE || OA. Answer the following. a. Find the direction angle of CD in standard position. Direction angle b. Find ZCDE. ZCDE- c. Find the horizontal distance h and the vertical distance e between O and E. Round your answers to at least 2 decimal places. h- ******** m m

21. The programmer uses three-point method for UT[2] setup for a sharp-tip pointer. If the programmer recorded each of three-points by precisely contacting the sharp-tip to the tip of the stationary reference pointer on the table, then (a) UT[2] setup is accurate (b) UT[2] setup is not accurate (c) the accuracy of UT[2] setup is still uncertain 22. User frame UF[3] is accurately set up on the part reference surface which is unparallel to the surface where the robot is mounted. To jog the robot TCP to move perpendicularly to the part reference surface, the programmer (a) needs to select World jogging coordinate system (b) needs to activate UF[3] and select User Frame jogging coordinate system