SOLVED: A 3-joint RPR planar robot is sitting near a wall-floor corner, as shown in Figure 1. If we only consider the x and y coordinates of the tip-point with respect to the base as the output, this arm is a redundant robot with n = 3 > m = 2. We want the robot tip-point to draw a circle that is centered at (1.2, 1.0) with a radius R = 0.6 meters, starting at the point (1.8, 1.0). The angular speed of the circular drawing is ω = 0.5 rad/sec in counterclockwise. The total length of the sliding
SOLVED: A 3-joint RPR planar robot is sitting near a wall-floor corner, …
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