Please solve all part (a,b,c).

Robotic manipulators use tools attached to their end-effector to manipulate objects in their task environment. In the labs, we have learned how to control a robotic manipulator so its end-effector can reach a desired position and/or follow a desired trajectory in its task environment. a) Draw a block diagram of a robotic control system in which the desired end- effector position trajectory is provided as input to the system, and the robot is controlled to follow this commanded trajectory. b) Identify potential sources of errors that could cause the robot not being able to accurately follow the desired trajectory. c) Imagine that you have access to a vision system (e.g., a stereo depth camera) that you could use to identify and locate objects of interest in the robot task space. How could you utilize this sensor in a pick-and-place task? Modify the block diagram in part (a) to account for the use of this sensor. Could this approach address some of the potential issues identified in part (b)? Explain