ECE-370: FK for Serial Manipulator

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T =

 -0.58850  -0.80850   0.00000   0.32553
  0.80850  -0.58850   0.00000   0.36597
  0.00000   0.00000   1.00000   0.00000
  0.00000   0.00000   0.00000   1.00000

xe = 0.32553 ye = 0.36597 t = 126.05

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