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22 May 2015 . Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Solucionario de Spong . Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control Copyright 2006 by John Wiley & Sons; 3. . by John Wiley & Sons There is no published solution for Problem 6.12.

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