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

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Text this: Gravity compensation of spatial two-DOF serial manipulators