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Vol 60, No 4 (2017)

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Figure

Fig. 2 Nominal dimensions and working envelope of  Fanuc LR Mate 100iB
Table 1  Initial Configuration  n x p   p y n p nz α  nz β n y γ nx [ mm ]  [ º ]  595  0  250  0  0  0
Table 3  k i τ  s t s ik Generalized coordinates  with errors °   δ 1jk δ 2jk δ 3 jk δ 4jk δ 5jk 0  0  0  0  0  0  0  0  1  0.20  0.20  0  28.9  -1.3  2.4  0  2  0.41  0.20  0  28.6  -1.2  2.5  0  3  0.62  0.20  0  28.7  -1.2  2.3  0  4  1.50  0.88  0  10

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