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.