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3D Printed 6-Axis Collaborative Arm Robot Using Force Limit..:

Saerang, Raymond ; Wiliem, David ; Tinggogoy, Feraldy...
IOP Conference Series: Earth and Environmental Science.  426 (2020)  1 - p. 012135 , 2020
Link: https://doi.org/10.1088/1755-1315/426/1/012135