22,zO1222211Oxz22O111sz12tz1(prismatic joint)effector)122 cm6, 6), (2, 4, 6), (3, 2, 6), (4, 0, 6), (5, -2, 6), (6, -4, 6), (7, -6, 6), (8, -8, 6)P1P1OP1P2(open kinematic chain)(joint)(base)(rotational joint)zxcmx10cmxP2P2(end Fig. 1zxcm(0, 8, 6), (1, zxFig. 1 Geometry of a two-link robot arm5cm2(t,z,x)=(1,10,2)Motionof a two-link planar robot arm
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