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From:  On the elastodynamics of a five-axis lightweight anthropomorphic robotic arm
On the elastodynamics of a five-axis lightweight anthropomorphic robotic arm

Figure 3. Virtual spring model of the 5-dof robotic arm with auxiliary loads, where Ac stands for the actuator and EE for end-effector.

Intelligence & Robotics
ISSN 2770-3541 (Online)
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