The planar workspace of the Merlin manipulator
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The authors examine the process of planar workspace development for a manipulator with revolute joints. The method is based on the computation of the direct kinematic equations for the planar representation of the robot. This method is used to determine graphically the workspace of the industrial-type six-degree-of-freedom Merlin 6500 manipulator. The workspace for any manipulator with all revolute joints can be determined using this method.<<ETX>>
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