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  _____      ___     __   _    _    _     _____   
 |__  //    / _ \\  | || | || | || | ||  / ____|| 
   / //    / //\ \\ | '--' || | || | || / //---`' 
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 /_____|| |_||  |_|||_|| |_||  \____//   \_____|| 
 `-----`  `-`   `-` `-`  `-`    `---`     `----`

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Text this: Collaborative robotics and its paradigms for industrial manipulators