Table 2.
Parameters for joint angles calculation.
| k | α k | β k |
|---|---|---|
| 0 | e 2 | (π e ∗∧e ∞) · e 0 |
| 2 | (L 12 · e 0) · e ∞ | (L 23 · e 0) · e ∞ |
| 3 | (L 23 · e 0) · e ∞ | (L 3e · e 0) · e ∞ |
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