Search for: [Abstract = "In the paper of Dulęba and Łysakowska \(1990\) a modified iterative method of generating a straight segment of the reference trajectory has been presented. Analytic formulae which are the solution to an inverse problem of manipulator kinematics enable us to design trajectory generating algorithms which compute in one step only internal coordinates of points lying exactly on the reference trajectory, with the accuracy resulting from the computer register length."]

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