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Journal of Robotics
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2015
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Article
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Tab 2
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Research Article
Omnidirectional Analysis of Spatial Manipulator
Table 2
DH parameters of planar manipulator.
Initial limit
Final limit
Joint’s type
1
0
0
−120°
120°
R
2
0
0
−160°
160°
R
3
0
0
0
−170°
170°
R