General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Front. Mech. Eng. ›› 2022, Vol. 17 ›› Issue (2) : 25. DOI: 10.1007/s11465-022-0681-7
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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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