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D. Xu, C. A. A. Calderon, J. Q. Gan, H. Hu and M. Tan, “An Analysis of the Inverse Kinematics for a 5-DOF Manipulator,” International Journal of Automation and Computing, Vol. 2, 2005, pp. 114-124. http://dx.doi.org/10.1007/s11633-005-0114-1

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