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Pointtopoint control of a R planar horizontal underactuated manipulator Arun D

Mahindrakar Shodhan Rao RN Banavar Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Received 15 February 2005 received in revised form 21 September 2005 accepted 14 October 2005 Available online 20 December 2

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Pointtopoint control of a R planar horizontal underactuated manipulator Arun D






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