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Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2012) Singularity avoidance of a six degree of freedom three dimensional redundant planar manipulator. Computers and Mathematics with Applications, 64 (5). pp. 856-868. ISSN 08981221, DOI https://doi.org/10.1016/j.camwa.2011.12.073.

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