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Figure 2
Geometry of the hexapod and definition of the vectors and axes involved in the kinematics calculations. The user-defined rotation center is denoted TCP, which is initially set at the center of the hexapod platform.

Journal logoJOURNAL OF
SYNCHROTRON
RADIATION
ISSN: 1600-5775
Volume 16| Part 6| October 2009| Pages 788-795
doi:10.1107/S0909049509037911
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