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Phantom 1.5 (Planar) Manipulability Ellipsoid at Workspace Boundary ( 2 of 2 )

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Uploaded on Oct 17, 2010

- Check the Inverse Kinematic solution;
- Constraints in Jacobian formulation included angular part;
- Compare the Manipulabiilty Ellipsoid with a normal Planar RRR or RR Manipulator.
- The formulation is RRR + RR.
- Manipulability Ellipsoid is scaled to half of original ellipsoid;
- Does not include the base joint in the formulation, so it has only 2-DOF (hence the resulting isotropy index is different from the spatial case);

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