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The position of the origin of link 2 for an RP manipulator is given by L1C1 (1231 P2 ORG : 131 + (5261 0 Give

The position of the origin of link 2 for an RP manipulator is given by L1C1 (1231 P2 ORG : \"131 + (5261 0 Give the 2 x 2 Jacobian that relates the two joint rates to the linear velocity of the origin of frame {2}. L." E [5

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