%PDF-1.4
%
1 0 obj
<>stream
application/pdfIEEEIEEE Transactions on Robotics and Automation;2002;18;3;10.1109/TRA.2002.1019457Manipulability, force, and compliance analysis for planar continuum manipulatorsI.A. GravagneI.D. Walker
IEEE Transactions on Robotics and Automation263 June 200231810.1109/TRA.2002.1019457273
endstream
endobj
2 0 obj
<>
endobj
3 0 obj
<>stream
HWv9+8b:r'{:LF$R롮Gܞ*iHHr|4K<?<@˻_dG?XđrSzu+x3^6^ꗯO(rLHgAncA 4o?~^RyKYrGfFEDT/[E=}nliէ)cUm
X<HnJtEtSn]3CH/ɠ/wMЙ*7ЄcJd6GZŹFΝ'{NJw:yva6Ut>SUl[oA::Un];psb؋˿jy#pDIj~_ x=Z'\
6`=̆yU?FigU0,-ƪ=ijfL$ۮ$+ь0ƪ]kSԧ)=~Zok+X,^\4Eڗ=B;WlDnNTTͦ2.%w䂯J6eQLU.<;=C "8^@q(pduZ6/K.k{Cfe$f8M@+Mq
qMe$bR sCe$ e.a9'G4!IWxQWU"rlw'}ȫqq80a[6<2Ra$:=ǚ戒t{0@Bh0oJp