Planar Manipulator Velocity analysis Jo=t 61 e b=2 (4.103b) e1xrte2xr2e3×r 0 e1=e2=e3=e三0 r 0 WP JP ,103 2-D cross i Es product ei xri=ai matrix si≡[cvPlanar Manipulator • Velocity Analysis 2-D cross￾product matrix