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Cited article:

Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Shengqiao Hu, Huimin Kang, Hao Tang, Zhengjie Cui, Zhicheng Liu and Puren Ouyang
Actuators 10 (4) 80 (2021)
https://doi.org/10.3390/act10040080