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What is Robot Fish Kinematics Analysis about?

The document describes the position and velocity kinematics of a 3-link robot fish manipulator. It presents the Denavit-Hartenberg parameters and uses them to determine the forward and inverse kinematics solutions for position and velocity. The robot has singular configurations when θ2 is 0° or 180°, making the value of θ1 indeterminate at those positions.

Author

minhkhoa

Language

EN