Chapter 4 Planar Kinematics - MIT OpenCourseWare
This is simply to evaluate the right-hand side of the kinematic equation for known joint displacements. In this section, we discuss the problem of moving the end-effecter of a manipulator arm to a specified position and orientation. We need to ... inverse kinematics problem, the kinematic structure is redrawn in Figure 4.2.1. ...
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