A robot arm is moving in a defined space. Using ultrasonic sensors calculate the coordinate of the robot end effector position. A transmitter T1 is attached at the end effector of the robot arm and two receivers R1 and R2 are placed 2m away from each other as shown in Figure. The speed of sound is 340m/s in the air. R1 detects signal from the transmitter T1 after 5ms and, R2 detects signal from the transmitter T1 after 3ms. Using a triangulation method calculate the end effector x and y coordinate of the robot arm.