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Notebook[{

Cell[CellGroupData[{
Cell["Animation of a Spherical 4R Linkage", "Subtitle"],

Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell["Input Linkage Data ", "Section"],

Cell[CellGroupData[{

Cell[BoxData[
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Cell[CellGroupData[{

Cell[BoxData[
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Cell[BoxData[
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Cell["Compute the joint angles in the given configuraton", "Subsection"],

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Cell[BoxData[
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Cell[CellGroupData[{

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Cell[CellGroupData[{

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Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

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Cell[CellGroupData[{

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Cell[BoxData[
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Cell[CellGroupData[{

Cell["Determine Base Transformation", "Subsection"],

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Cell[CellGroupData[{

Cell["Functions for Analysis", "Subsection"],

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Cell[CellGroupData[{

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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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Cell[CellGroupData[{

Cell["Input Angles", "Subsection"],

Cell["Compute limits", "Text"],

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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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Cell[BoxData[
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