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SCARA robot with 2 degrees of freedom (see online version for colours) | Download Scientific Diagram
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Modeling, Simulation and Control of a Redundant SCARA-Type Manipulator Robot - Claudio Urrea, John Kern, 2012
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mechanism - Different methods to determine DOF: Chebychev-Kutzbach-Grubler method vs. Screw method - Robotics Stack Exchange
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