Chapter 4 Planar Kinematics - MIT OpenCourseWare
a plane, i.e. Planar Kinematics. Planar kinematics is much more tractable mathematically, compared to general three-dimensional kinematics. Nonetheless, most of the robot mechanisms of practical importance can be treated as planar mechanisms, or can be reduced to planar problems. General three-dimensional kinematics, on the other hand, needs ...
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