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The transformation matrices of a 3-DOF robotic arm are given in symbolic form. Determine the velocities of the joints if the hand move from location
The transformation matrices of a 3-DOF robotic arm are given in symbolic form. Determine the velocities of the joints if the hand move from location T1 to T2 in 2 second. Also find the singularities of the robot. The length of link L3 is 1.5ft. A1=C1S1000010S1C1000001;A2=10000100001000d21;A3=C3S3000010S3C300L3C3L3S301;0T3=C1C3S1C3S30S1C100C1S3S1S3C30L3C1C3S1d2L3S1C3+C1d2L3S31T2=0.6120.3530.70700.50.866000.6120.3530.70700.0820.070.1061;T1=00.50.8660100000.8660.500.080.0750.131
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