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Text this: Manipulability constraint locus for a six degrees of freedom redundant planar manipulator

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            _____     _  _    __   __   _____    
  ____     |  ___||  | \| ||  \ \\/ // |  __ \\  
 |    \\   | ||__    |  ' ||   \ ` //  | |  \ || 
 | [] ||   | ||__    | .  ||    | ||   | |__/ || 
 |  __//   |_____||  |_|\_||    |_||   |_____//  
 |_|`-`    `-----`   `-` -`     `-`'    -----`   
 `-`

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