n˙=1e[r˙1+R˙1sb11r˙6R˙6sA16]=1e[r˙1+R1(ω¯1×sb11)r˙6R6(ω¯6×sA16)]
(6a)
 
Fx=FNsinθzsinθy+Ftcosθzcosθy
(28)
 
ω=arcoslzl6zlzl6z,l6z=R6[00z]T
(42)

The unit in Figs. 15, 17, and 19 should be meters (m) and in Figs. 16 and 18 should be millimeters (mm).

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