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Mathematical Problems in Engineering
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2021
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Article
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Tab 7
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Research Article
A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator
Table 7
D-H parameters of LeArm manipulator.
Joints
1
0
0
149 mm
2
0
0
3
0
100 mm
0
4
0
90 mm
0
5
0
156 mm
0
6
0
0
0