question 6 inverse kinematics jacobian a explain how the jacobian matrix can be used kinematics problem for robot arms solve the inverse marks b the planar robot arm rpr shown in figure 4 h 77506

A Jacobian matrix and two equlibria are given. Determine if each is locally stable, unstable, or if the analysis is inconclusive. J=[ 2 x1 -sin x2 cos x1 0] (i) x̂1=1, x̂2=-π(ii) x̂1=1, x̂2=π | Numerade