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Reach ability of 3-link robot arms



Dear sir,
I am a PhD. student in Algebraic Geometry.The field that I have to work is Robotic.I have a question about reach ability problems for designing 3-link arms in convex polygons.I don't know if there is anyone that has been worked on it,and if there is ,what is the new results ?
I would appreciate if you help me with this subject.
Sincerely,
Zahra Nilforoushan.


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