Defining Feasible Joint and Geometric Workspaces Through Boundary Functions by Jorge A. Lizarraga, Dulce M. Navarro, Marcela E. Mata-Romero, Luis F. Luque-Vega, Luis Enrique González-Jiménez, Rocío Carrasco-Navarro, Salvador Castro-Tapia, Héctor A. Guerrero-Osuna, Emmanuel Lopez-Neri

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