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1. Determine the 3 3 Jacobian of the three-link planar manipulator presented in Figure 1. In order to derive the Jacobian, you should use

1. Determine the 3 3 Jacobian of the three-link planar manipulator presented in Figure 1. In order to derive the Jacobian, you should use velocity-propagation analysis or static force analysis. Hand your work showing how you derived the Jacobian. 83 01 02 L Figure 1: A planar manipulator

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