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Question: the robot programmer set up ut3 for the tooltip of...

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The robot programmer set up UT[3] for the tool-tip of the end-effector attached to the robot wrist and UF[4] for the part that the robot is to work on. The figure below shows two robot points un41 Pl i IUTI3, and UFl시 P[21 UTI3,that the programmer taught via a triangle parts dimensions. Find the position X,Y, Z values and orientation W, P, R values of the two robot points (a) UFWp[1]UT131 =(X, Y, Z, w(yaw), P(pitch), R(roll) = ? (b)2TIBI(X, Y, Z, W(yaw), P(pitch), R(roll)-? UTI3] UTI3] x1 12 20 UFAl P121 UT 45° UF14] UT13] x 2 yo UF[4] 22 UT13]

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