Joint angles and angular speeds are the two basic measurements used in the direct (low-level) control of robotic manipulators. One type of robot arm uses resolvers to measure angles and differentiate these signals (digitally) to obtain angular speeds. A gear system is used to step up the measurement (typical gear ratio, 1:8). Since the gear wheels are ferromagnetic, an alternative measuring device would be a self-induction or mutual-induction proximity sensor located at a gear wheel. This arrangement, known as a pulse tachometer, generates a pulse (or near-sine) signal, which can be used to determine both angular displacement and angular speed. Discuss the advantages and disadvantages of these two arrangements (resolver and pulse tachometer) in this particular application.