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![RIPPA robot model. Source: Sukkarieh [42]. | Download Scientific Diagram](https://www.researchgate.net/publication/343945369/figure/fig14/AS:929548807987211@1598633114713/RIPPA-robot-model-Source-Sukkarieh-42.png "RIPPA robot model. Source: Sukkarieh [42]. | Download Scientific Diagram")
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