Question: When only end-effector linear velocity is considered for the arm shown below with fixed frame denoted by {s} and end-effector frame frame denoted by

When only end-effector linear velocity is considered for the arm shown below

When only end-effector linear velocity is considered for the arm shown below with fixed frame denoted by {s} and end-effector frame frame denoted by {b}, calculate the analytical jacobian. 0 90,02 L {s} Xs 01 L 03 Zb {b} L Xb

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