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![Cover for Rafael Kelly · Control of Robot Manipulators in Joint Space - Advanced Textbooks in Control and Signal Processing (Paperback Book) [2005 edition] (2005)](https://imusic.b-cdn.net/images/item/original/944/9781852339944.jpg?rafael-kelly-2005-control-of-robot-manipulators-in-joint-space-advanced-textbooks-in-control-and-signal-processing-paperback-book&class=scaled&v=1647822079)