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We revisit the simple 2-link planar robot and determine the inverse kinematic function using simple geometry and trigonometry.

We recap the important points from this lecture.

We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.

We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.