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Board Board 3 ys y's L1 L2 . 10 2 X's {s } Consider an RPR manipulator in its zero-configuration, as shown above on the

Board Board 3 ys y's L1 L2 . 10 2 X's {s } Consider an RPR manipulator in its zero-configuration, as shown above on the left, with L1 = 3 and L2 = 2. This robot has a marker attached at the end-effect

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