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1) Identify coordinates of pencil in XY plane 2) Hold pencil at p = 2cm , with M and T affectors
3) Rotate pencil (about Z-axis, passing through p = 0), till (x=0,y=0) coordinate lies on
P-axis 4) Move pencil along Z-axis by 20cm
Source point- = defined as centre of trough between I and T affectors
5) Move pencil (keeping orientation of P-axis constant), 1cm closer to ‘source point’.
6) Hook I-affector at p = 5cm, with ‘source point’.
7) Rotate point of contact between I-affector and object, about axis defined by line passing
through points of contact of M and T affectors (with object), by an angle such that P-axis
lies at perpendicular distance of ‘r’ from ‘source point’.
8) Release I affector 9) Move# I affector, to touch pencil surface
at p=1.75cm, such that contact point makes an equilateral triangle with M and T contact
points (with pencil) 10) Identify coordinates of Paper
11) Move pencil to contact plane of Paper(with p=0 point of pencil), 10cm away from closest
(to origin), adjacent edges of paper. 12) Move base of wrist to contact plane of
Paper, while not changing point of intersection of pencil tip with paper. (Ensure no relative
movement within hand from finger to wrist) 13) Applying pressure of 2psi, along -ve Z-axis
- trace locus defined by image/characters to be written on the plane of the paper, using
Move function for each image/character.