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Modelling and Control of Robot Manipulators

(2.29) 2(ere – mey) 2(eye- + me.) 2(n” + e?) – 1 If ... (r32 – r23) Vril – r22 = r^2 + 1 (2.30) e=#|sgn(ria – r21) Vr22 = rs3 = r11 = 1 |, Sgn (r21 - r12) ...

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