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![PDF] Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/41e2840d51e23727ec1c133c6fc924fa199b5f82/2-Figure3-1.png "PDF] Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot | Semantic Scholar")
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