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(Exercise 4.8, Lynch and Park) The RRRRPR open chain robot arm is shown in figure below. The zero position, the base (spatial) { 0 } and the end-effector (body) { b } frames are as shown in the figure. Determine the end-effector zero position configuration M , the screw axes S i in { 0 } . .

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(Exercise 4.8, Lynch and Park) The RRRRPR open chain robot arm is shown in figure below. The zero position, the base (spatial) { 0 } and the end-effector (body) { b } frames are as shown in the figure. Determine the end-effector zero position configuration M , the screw axes S i in { 0 } .

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