Describe how the position (X, Y, Z) and orientation (Yaw, Pitch, Roll) of a moving Cartesian frame is measured relative to a fixed Cartesian coordinate reference system. Graphically illustrate your answers. Describe the following Cartesian frames used by an industrial robot system. Graphically illustrate your answers. (a) The z-axis direction and the origin of the default TCP frame (i.e. Def-TCP) (b) The x-, y-, and z-axis directions and the origin of the robot world frame R (c) The x-, y-, and z-axis and origin of a user tool frame UT[k] that is taught for a robot tool by the robot programmer in using the "Three-Point" method. (d) The x-, y-, and z-axis direction and the origin of a user frame UF[h] that is taught for a part by the robot programmer in using the "Three-Point" method. User tool frame UT[5] and user frame UF[6J are currently activated in an industrial robot system. Describe how a robot point P[n] in the industrial robot system is defined. Graphically illustrate your answer. Describe how the position (X, Y, Z) and orientation (Yaw, Pitch, Roll) of a moving Cartesian frame is measured relative to a fixed Cartesian coordinate reference system. Graphically illustrate your answers. Describe the following Cartesian frames used by an industrial robot system. Graphically illustrate your answers. (a) The z-axis direction and the origin of the default TCP frame (i.e. Def-TCP) (b) The x-, y-, and z-axis directions and the origin of the robot world frame R (c) The x-, y-, and z-axis and origin of a user tool frame UT[k] that is taught for a robot tool by the robot programmer in using the "Three-Point" method. (d) The x-, y-, and z-axis direction and the origin of a user frame UF[h] that is taught for a part by the robot programmer in using the "Three-Point" method. User tool frame UT[5] and user frame UF[6J are currently activated in an industrial robot system. Describe how a robot point P[n] in the industrial robot system is defined. Graphically illustrate your