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PDF) Real time modified programmable universal machine for assembly (PUMA) 560 with intelligent controller
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A novel end-effector upper limb rehabilitation robot: Kinematics modeling based on dual quaternion and low-speed spiral motion tracking control - Liaoyuan Li, Jianhai Han, Xiangpan Li, Bingjing Guo, Xinjie Wang, Ganqin Du,
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Robots for minimally invasive diagnosis and intervention - ScienceDirect
