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A Biarc Method for Kinematics and Configuration Planning of Concentric Wire-Driven Manipulators

Zonggao Mu, Peng Wang, Zheng Li, Wenfu Xu. A Biarc Method for Kinematics and Configuration Planning of Concentric Wire-Driven Manipulators. IEEE Access, 7:151439-151448, 2019. [doi]

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