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201
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p
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.
89
~
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I
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.
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tlab
p
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i
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to
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3.
RO
B
O
T
I
C
M
ANIPULAT
O
R
SYST
E
M
Fig
u
r
e
4
s
h
o
w
s
a
r
o
b
o
t
m
a
n
ip
u
lato
r
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te
m
.
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o
b
o
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ar
m
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n
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e
m
o
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ed
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er
m
a
n
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b
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o
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o
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m
So
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t
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n
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ter
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ter
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h
e
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o
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t
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a
p
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am
d
ev
elo
p
m
e
n
t e
n
v
ir
o
n
m
e
n
t.
Fig
u
r
e
4
.
L
ab
-
Vo
lt
5
1
5
0
m
a
n
i
p
u
lato
r
s
y
s
te
m
4.
P
AT
H
P
L
ANN
I
N
G
I
N
2
D
P
L
A
N
Fo
r
w
ar
d
an
d
I
n
v
er
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e
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n
e
m
a
tics
o
f
a
Ser
ial
li
n
k
s
r
o
b
o
t
m
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ip
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o
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o
l
u
te
j
o
in
t
g
i
v
es
t
h
e
s
p
ec
if
icatio
n
o
f
t
h
e
en
d
-
ef
f
ec
t
o
r
'
s
p
o
s
itio
n
a
n
d
o
r
ien
tatio
n
[
8
]
.
A
t
th
e
C
ar
tesi
a
n
-
co
o
r
d
in
at
e
lev
el,
th
e
p
o
s
itio
n
an
d
o
r
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tatio
n
o
f
th
e
e
n
d
-
e
f
f
ec
to
r
d
escr
ib
ed
as
a
4
x
4
h
o
m
o
g
en
o
u
s
m
atr
ix
h
eld
a
3
x
3
m
atr
ix
to
d
escr
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e
th
e
o
r
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tatio
n
a
n
d
a
3
x
1
to
d
es
cr
ib
e
th
e
p
o
s
itio
n
.
[
]
Fo
r
th
e
p
u
r
p
o
s
e
o
f
la
y
o
u
t
o
f
a
P
C
B
w
e
ca
n
ass
u
m
e
t
h
at
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h
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o
r
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n
a
n
d
z
ax
i
s
ar
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tan
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t
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i
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at
o
n
l
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a
x
i
s
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x
is
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e
ti
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e
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ied
i
n
th
e
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o
m
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e
n
o
u
s
m
atr
i
x
s
o
t
h
e
m
atr
ix
ca
n
r
ep
r
esen
te
d
(
2
)
,
[
]
(
2)
T
h
e
co
n
s
tan
ts
i
n
t
h
e
h
o
m
o
g
en
o
u
s
m
a
tr
ix
d
ep
en
d
o
n
t
h
e
o
p
er
atin
g
co
n
d
it
io
n
s
.
T
o
o
b
tain
t
h
e
co
r
r
esp
o
n
d
in
g
a
n
g
le
s
v
ec
to
r
o
f
th
e
m
a
n
ip
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th
e
h
o
m
o
g
en
o
u
s
m
atr
ix
b
ein
g
d
eliv
e
r
ed
to
th
e
in
v
er
s
e
Kin
e
m
atic
s
eq
u
atio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
9
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J
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2
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J
u
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201
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:
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–
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92
5.
P
AT
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P
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ANN
I
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I
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F
U
L
L
O
F
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B
ST
AC
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A
Fig
u
r
e
5
p
r
esen
ts
a
m
o
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el
o
f
a
n
e
n
v
ir
o
n
m
e
n
t
f
u
ll
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f
o
b
s
tacl
es
d
esi
g
n
ed
b
y
Au
to
C
AD
p
ac
k
ag
e.
T
h
en
th
e
co
o
r
d
in
ates
o
f
th
es
e
o
b
s
tacle
s
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in
ed
in
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g
o
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ith
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n
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ate
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ath
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t
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its
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r
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ates
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1
2
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d
g
o
al
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o
in
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h
ich
i
s
its
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o
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d
in
ates
(
1
1
1
,
2
6
2
)
as
s
h
o
w
n
in
Fig
u
r
e
6.
T
h
e
p
ath
g
en
er
ated
s
av
ed
in
ax
e
l f
i
le.
Fig
u
r
e
5
.
L
a
y
o
u
t o
f
a
s
tat
ic
en
v
ir
o
n
m
en
t f
u
ll
of
o
b
s
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s
Fig
u
r
e
6
.
Op
ti
m
u
m
p
at
h
w
h
ic
h
av
o
id
all
th
e
o
b
s
tacle
s
in
t
h
e
en
v
ir
o
n
m
e
n
t
6.
CO
NCLU
SI
O
N
A
co
m
p
le
te
an
al
y
tical
s
o
lu
tio
n
to
th
e
f
o
r
w
ar
d
an
d
i
n
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er
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m
atic
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o
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t
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5
D
-
OF
m
an
ip
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lato
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w
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n
th
i
s
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all
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d
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n
e
m
atics
g
o
v
er
n
i
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g
eq
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s
w
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p
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at
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g
a
3
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v
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o
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an
d
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r
o
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o
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m
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ip
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la
to
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L
ab
-
Vo
lt
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1
5
0
an
d
t
h
e
r
ea
l
ar
m
m
o
v
ed
as
ac
cu
r
ate
as th
e
v
ir
t
u
al
m
o
d
el
m
o
v
e.
So
,
w
e
r
ec
o
m
m
en
d
ed
t
h
e
d
r
iv
en
f
o
r
w
ar
d
an
d
i
n
v
er
s
e
Ki
n
e
m
atic
s
to
u
s
e
i
n
o
t
h
er
ap
p
licatio
n
s
,
al
s
o
w
e
r
ec
o
m
m
e
n
d
t
h
e
r
o
b
o
t
ar
m
to
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s
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f
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ed
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ca
tio
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l
p
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r
p
o
s
e
s
.
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g
o
r
ith
m
h
a
s
s
h
o
w
n
a
n
ac
ce
p
ted
ef
f
icie
n
c
y
an
d
ac
ce
p
ted
w
o
r
k
-
ti
m
e
f
o
r
p
ath
p
lan
n
in
g
in
t
h
e
s
tatic
-
o
b
s
t
ac
les
en
v
ir
o
n
m
e
n
t,
an
d
th
e
co
l
lis
io
n
av
o
id
a
n
ce
b
y
th
is
al
g
o
r
ith
m
is
v
er
y
g
o
o
d
,
an
d
f
o
r
m
o
r
e
ac
cu
r
ate
r
esu
lts
i
t
is
r
ec
o
m
m
e
n
d
ed
th
at
th
e
w
o
r
k
-
s
p
ac
e
is
d
iv
id
ed
in
to
a
s
m
aller
g
r
id
in
s
ize
.
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r
o
v
id
e
a
s
tate
m
e
n
t
t
h
at
w
h
a
t
is
e
x
p
ec
ted
,
as
s
tated
i
n
t
h
e
"
I
n
tr
o
d
u
ctio
n
"
ch
ap
ter
ca
n
u
lti
m
atel
y
r
esu
lt
i
n
"
R
es
u
lts
a
n
d
Dis
c
u
s
s
io
n
"
ch
ap
ter
,
s
o
th
er
e
is
co
m
p
a
tib
ilit
y
.
Mo
r
eo
v
er
,
it
ca
n
also
b
e
ad
d
ed
th
e
p
r
o
s
p
ec
t
o
f
th
e
d
ev
elo
p
m
e
n
t
o
f
r
esear
ch
r
esu
l
t
s
an
d
ap
p
licatio
n
p
r
o
s
p
ec
ts
o
f
f
u
r
t
h
er
s
t
u
d
ies
in
to
th
e
n
e
x
t
(
b
ased
o
n
r
esu
lt a
n
d
d
is
c
u
s
s
io
n
)
.
RE
F
E
R
E
NC
E
S
[1
]
Bo
h
li
n
R
o
b
e
rt,
"
Ro
b
o
t
p
a
t
h
p
la
n
n
in
g
,
‖
Ch
a
lm
e
rs Un
iv
e
rsit
y
o
f
Tec
h
n
o
lo
g
y
,
2
0
0
2
[2
]
T
u
Jia
n
p
in
g
a
n
d
Ya
n
g
S
im
o
n
X
,
―
G
e
n
e
ti
c
a
lg
o
rit
h
m
b
a
se
d
p
a
th
p
lan
n
i
n
g
f
o
r
a
m
o
b
il
e
ro
b
o
t,
Ro
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
,‖
Pro
c
e
e
d
i
n
g
s.
IC
RA
'
0
3
.
I
EE
E
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
,
v
o
l
u
m
e
1
,
p
a
g
e
s=
1
2
2
1
—
1
2
2
6
.
(
2
0
0
3
).
[3
]
Bu
ss
S
a
m
u
e
l
R,
―
In
tro
d
u
c
ti
o
n
t
o
in
v
e
rse
k
in
e
m
a
ti
c
s
w
it
h
jac
o
b
ian
tran
sp
o
se
,
p
se
u
d
o
i
n
v
e
rse
a
n
d
d
a
m
p
e
d
lea
st
sq
u
a
re
s m
e
th
ods
,
‖
I
EE
E
J
o
u
rn
a
l
o
f
R
o
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
,
v
o
l
u
m
e
1
7
,
n
u
m
b
e
r
1
-
1
9
,
p
a
g
e
s 1
6
,
2
0
0
4
.
[4
]
G
ro
c
h
o
w
K
e
it
h
a
n
d
M
a
rti
n
S
tev
e
n
L
a
n
d
He
rt
z
m
a
n
n
A
a
ro
n
a
n
d
P
o
p
o
v
i'
c
Zo
ra
n
,
S
ty
le
-
b
a
se
d
in
v
e
rs
e
k
in
e
m
a
ti
c
s
,
‖
A
CM
tran
sa
c
ti
o
n
s o
n
g
ra
p
h
ics
(T
OG
),
v
o
lu
m
e
2
3
,
n
u
m
b
e
r3
,
p
a
g
e
s5
2
2
-
5
3
1
,
A
CM
.
2
0
0
4
.
[5
]
M
e
d
h
i
De
e
p
a
n
d
Ra
m
a
sa
m
y
K
a
r
th
ik
,
b
o
o
k
:
―
Ne
tw
o
rk
ro
u
ti
n
g
:
a
l
g
o
rit
h
m
s,
p
ro
t
o
c
o
ls,
a
n
d
a
rc
h
it
e
c
tu
re
s
,
‖
M
o
rg
a
n
Ka
u
fm
a
n
n
,
2
0
1
7
.
[6
]
He
T
ian
a
n
d
L
i
De
b
iao
a
n
d
Yo
o
n
S
a
n
g
W
o
n
,
―
A
m
u
lt
i
-
p
h
a
se
p
lan
n
in
g
h
e
u
rist
ic
f
o
r
a
d
u
a
l
-
d
e
li
v
e
ry
S
M
T
p
lac
e
m
e
n
t
m
a
c
h
in
e
o
p
t
im
iza
ti
o
n
,
‖
R
o
b
o
ti
c
s
a
n
d
Co
m
p
u
ter
-
In
te
g
ra
ted
M
a
n
u
fa
c
tu
rin
g
,
v
o
lu
m
e
4
7
,
p
a
g
e
s 8
5
-
9
4
,
2
0
1
7
.
[7
]
K
e
sh
e
n
g
w
a
n
g
,
―
E
ff
icie
n
t
in
v
e
r
se
p
o
siti
o
n
tran
sf
o
rm
a
ti
o
n
f
o
r
T
R
4
0
0
0
S
r
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