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This document outlines the methods used to derive Inverse Kinematics (IK) for a 3 Degrees Of Freedom planar parallel robot. Thisrobotisusedtoguideasurgicalinstrumentthatallowsthesurgeontopreciselyinsertaneedle during surgery. Using the derived IK we will create a Matlab model of the parallel robot. The model will allow us to plot and analyse the workspace.

Author

Queron Williams

Language

EN