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Chandra, R. et al. (2020). Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions ⁎The authors are supported by the H2020 FoF project SoftManBot. This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no 869855.. IFAC-PapersOnLine. 53 (2), pp. 8500-8505. [Online].