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Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification

Takateru Urakubo, Eri Kitagawa, Xianglong Wan, Tomoaki Mashimo. Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification. Advanced Robotics, 32(11):623-634, 2018. [doi]

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