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Inverse kinematics analysis of a 5 Axis RV 2AJ robot manipulator

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Figure

Figure 1: RV-2AJ at work in cramped quarters. (Mitsubishi  Electric, 2009).
Figure 2: RV-2AJ robot arm joints.
Figure 6: Determining angle at shoulder joint,
Figure 7: RV-2AJ robot at first configuration.
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