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1. Preliminaries
1.1 Robot types studied
Two main categories of robots are studied in this article. The first is serial robots, in which the end device (a tool or gripper) is connected to a fixed base via a single articulated kinematic chain (figure 1 , left). The second category, parallel robots [S 7 768], move a platform carrying the end unit via several articulated kinematic chains mounted in parallel (figure 1 , right). Most of the article (sections
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