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             ___      _____      ___     ______   
  ____      / _ \\   /  ___||   / _ \\  |      \\ 
 |    \\   | / \ || | // __    | / \ || |  --  // 
 | [] ||   | \_/ || | \\_\ ||  | \_/ || |  --  \\ 
 |  __//    \___//   \____//    \___//  |______// 
 |_|`-`     `---`     `---`     `---`   `------`  
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發送短信 : Gravity compensation of spatial two-DOF serial manipulators