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Comparison: Solid Line -> simulated trajectorYi Dashed line -> given trajectory 10 8 6 Tip Velocity: X_dot (m/s)

4 2 0 -2 -4 -6 -8 -10

0

0.5

1

1.5

2 Time (sec)

2.5

3

3.5

4

0

0.5

1

1.5

2 Time (sec)

2.5

3

3.5

4

8 6

Tip Velocity: Y_dot (m/s)

4 2 0 -2 -4 -6 -8

Tip_x_y_velocity  

-4 -2 -8 -6 -6 -4 -2 0 2 4 6 8 0 0 2 4 6 8

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