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Songthumjitti et al. Intell Robot 2023;3(3):306-36  I http://dx.doi.org/10.20517/ir.2023.20  Page 13 of 31








































                                         Figure 13. Stability analysis with mass parameter,   , at 1 kg.








































                                         Figure 14. Stability analysis with mass parameter,   , at 5 kg.
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