Mae593 Project Presentation

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Weiliang Kong

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PPRR Serial Manipulator ,[object Object],[object Object]

Forward Kinematics 2-D PPRR serial manipulator has four degree of freedom, so there are four parameters. In the project, L1,L2,x0,y0 are 4, 4.5, 1 and 1 respectively.

Inverse Kinematics ,[object Object],[object Object],[object Object],[object Object]

Jacobian matrix ,[object Object],[object Object]

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