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A Universal Planar Manipulator

A Universal Planar Manipulator. Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000. (x,y, q ). 1 horizontal, rigid plate enough?. Velocity Asymmetry. Bang-bang. cos t + 0.5 cos 2t . +m mg. 62%. 56%. -m mg. Coulomb Pump. Straight-Line Feeding. Anything Goes. Interesting Apps.

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A Universal Planar Manipulator