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DUAL QUATERNION SYNTHESIS OF CONSTRAINED ROBOTS Alba Perez Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 maperez@uci.edu J. Michael McCarthy Robotics and Automation Laboratory, University of California, Irvine Irvine, CA 92697 jmmccart@uci.edu Bruce Bennett Department of Mathematics, University of California, Irvine Irvine, CA 92697 bbennett@uci.edu

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