Let us consider a two-link mechanism shown in figure below. Assume that 91=0 and 92 =...
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Let us consider a two-link mechanism shown in figure below. Assume that 91=0 and 92 = 45; a = a = 1; -(x,y) a. Determine the Jacobian matrix for this configuration. b. Calculate the Yoshikawa's manipulability measure m. c. Calculate the eigenvalues (1, 2) and singular values (). d. Find the two principal axes of the manipulability ellipsoid. Let us consider a two-link mechanism shown in figure below. Assume that 91=0 and 92 = 45; a = a = 1; -(x,y) a. Determine the Jacobian matrix for this configuration. b. Calculate the Yoshikawa's manipulability measure m. c. Calculate the eigenvalues (1, 2) and singular values (). d. Find the two principal axes of the manipulability ellipsoid.
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