4-Legged Jansen Linkage Pseudo-Static Simulation in MATLAB. Newton-Raphson is implemented to solve the system of equations describing the linkage, in either full or sequential form. The sequential Newton-Raphson approach differs in treating the system of 8 equations in 8 unknowns as 4 sequential pairs of 2 equations in 2 unknowns, trading numerical accuracy for modest computational efficiency improvements.
See jansen.pdf for an in-depth report on the simulation.
See the visualisation on YouTube: