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. Author manuscript; available in PMC: 2014 Aug 12.
Published in final edited form as: Int J Rob Res. 2010 Apr 1;29(10):1263–1280. doi: 10.1177/0278364910367543

Fig. 5.

Fig. 5

For θ0 = 180° the value of the integral in (44) is shown in blue as a function of θL ranging from 0° to 360°. Because it is lower bounded by π/2, the dimensionless parameter La can be used to predict when multiple solutions can occur.