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For the P-P-P robot mechanism shown below: Xo da 20 a) Find the transformation matrix which relates end effector coordinates to the base coordinate

For the P-P-P robot mechanism shown below: Xo da 20 a) Find the transformation matrix which relates end

For the P-P-P robot mechanism shown below: Xo da 20 a) Find the transformation matrix which relates end effector coordinates to the base coordinate frame. b) Using the transformation matrix you found in a) Find the the jacobian matrix.

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