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![Link frames of the KUKA LBR iiwa 14 R820 robot [29] | Download Scientific Diagram](https://www.researchgate.net/publication/353377356/figure/fig2/AS:1048240002723846@1626931300427/Link-frames-of-the-KUKA-LBR-iiwa-14-R820-robot29.png "Link frames of the KUKA LBR iiwa 14 R820 robot [29] | Download Scientific Diagram")