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EXAMPLE 2.13 For the simple 2-axis, planar robot shown in Figure 2.11, Find a symbolic expression for the joint variables of the robot YU

EXAMPLE 2.13 For the simple 2-axis, planar robot shown in Figure 2.11, Find a symbolic expression for the joint variables of the robot YU 21 a2 x1 XU ZH 20 Figure 2.11 A simple 2-axis, articulated robot arm.

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