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Inverse kinematic optimization for 7-DoF serial manipulators with joint limits
Kui HU,Jiwen ZHANG,Yunfei DONG,Dan WU
Journal of Tsinghua University(Science and Technology) . 2020, (12): 1007 -1015 .  DOI: 10.16511/j.cnki.qhdxxb.2020.25.019

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