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Geometric Model for Serial-Chain Robot Inverse Kinematics i..:

, In: Advances in Robot Kinematics 2022; Springer Proceedings in Advanced Robotics,
Schappler, Moritz ; Blum, Tobias ; Job, Tim-David - p. 399-408 , 2022
Link: https://doi.org/10.1007/978-3-031-08140-8_43