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Error in formula of forward kinematics #1

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@strongly-typed

In $${}_{4}^{3}T$$ on http://javakuka.org/102.html there are two identical term $$a_3,c_3$$ It should be $$a_3,c_3$$ and $$a_3,s_3$$

I haven't found the sources of this doc so I was not able to provide a merge request.

Looking forward to getting this fixed and the docs added to the repository.

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