Titlebook: ICT Systems Security and Privacy Protection; 33rd IFIP TC 11 Inte Lech Jan Janczewski,Mirosław Kutyłowski Conference proceedings 2018 IFIP

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Richard Baker,Ivan Martinovicty). Reciprocity (and selective reciprocity) permits the development of wrench analyses including the partitioning of actuation vs structural equilibration components. The total wrench set is greatly expanded both by the addition of kinematic redundancy and selective actuation/locking of the joints.

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