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A robot manipulator with 8 joints will have a Jacobian Matrix of size 6 by 8 (6 x 8) Matrix. The Jacobian Matrix encodes the relationship between velocities.It helps in the execution and planning of smooth trajectories, in the determination of singular configuration, in the execution of coordinated anthropomorphic motion, in the derivation of the dynamic equation of motion and the transformation of forces and torques from the end-effector to the manipulator joints.

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