ME5286CourseNotes07- - 1 Resolve the end point velocity to joint velocities 2 Find singular confgurations Example 3 Find singular confgurations

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Computation of the Jacobian
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Infnitesimal rotations obey the rules oF vector addition, while fnite rotations do not.
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Example 2: Consider the two D.O.F. planar arm.
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Unformatted text preview: 1) Resolve the end point velocity to joint velocities 2) Find singular confgurations Example 3: Find singular confgurations ±or the 3 D.O.F. wrist...
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes07- - 1 Resolve the end point velocity to joint velocities 2 Find singular confgurations Example 3 Find singular confgurations

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