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If the three rotation axes of robot are orthogonal but not intersecting at a common point, same setup as above can be used except using robot architecture type "GENERAL_3P3R". One example of this type robot is attached.
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GENERAL_3P3R was developed for a custom cell and it can support the decouple_3P3R too, so these two types of 3P3R can be merged into one in long term, but we keep "decouple_3P3R" for the time being for avoiding any risk of affecting the other cells. |
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