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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2021
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Article
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Tab 2
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Research Article
A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator
Table 2
D-H parameters of the manipulator.
Joints
1
0
0
2
0
431 mm
0
3
20.3 mm
150 mm
4
0
431 mm
5
0
0
6
0
0
0