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MR1250881 93C85 (70B15 70Q05)
Wampler, C. W.; Morgan, A. P. Solving the kinematics of general 6R manipulators using polynomial continuation. Robotics: applied mathematics and computational aspects (Loughborough, 1989), 57–69, Inst. Math. Appl. Conf. Ser. New Ser., 41, Oxford Univ. Press, New York, 1993.
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