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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons
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Page 1: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 2: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 3: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 4: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 5: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 6: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 7: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 8: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 9: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 10: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 11: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 12: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 13: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 14: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 15: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 16: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 17: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 18: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 19: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 20: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 21: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 22: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 23: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 24: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 25: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 26: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 27: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 28: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 29: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 30: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 31: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 32: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 33: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 34: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 35: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 36: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 37: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 38: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 39: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 40: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 41: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 42: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 43: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 44: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 45: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 46: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 48: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 49: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 50: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 52: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 54: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

Page 58: Solutions - SPONG

Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

There is no published solution for Problem 6.12.

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright © 2006 by John Wiley & Sons

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