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... 6 & (33 ) Note that f p also has a trigonometric parametrization given by Proposition 3. = , p ij p ij p T f ij p ij ij p ij p S C S S C p S C C C C S S 2 3 2 3 2 3 2 3 3 2 3 2 ( ) * + * + * + * + * + . * + * + & ... 1986, page numbers 3- 17. Parallel Manipulators, Towards New Applications 60 1 2 = , = , i p i q x x x x 1 2 = , = , i p i q y y y y...
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