Non singular transition between solutions of the direct position problem in thre reduce configuration space
Transición no singular entre soluciones del problema de posición directo en el espacio de configuración reducido

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Non singular transition between solutions of the direct position problem in thre reduce configuration space encircling a cuspidal folding

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?image=12236023
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_image_12236023.html

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