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Solving for the end effector is done by using links 4 and 5 as building block vectors, defining point A as origin, and defining point C as a function of θ₂.

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$\vec{E} = ge^{j\theta_4}$ Image Modified...................................................................(Eq. 5)

$\vec{D} = he^{j\theta_5}$ Image Modified..............................(Eq. 6)

$\vec{M} = \vec{C} + \vec{E} + 2\vec{D} + ke^{j(\theta_5 - 90)}$ Image Modified..............................(Eq. 5)

$\vec{N} = 2\vec{E} + \vec{D} + ke^{j(\theta_4 + 90)}$ Image Modified...................................................................(Eq. 5)

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Old Version 2

New Version 3

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