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The disadvantage of this method is that it does not guarantee a solution
for general structure and even if it exists, it is complicated for increasing
DOFs. The second handicap is that the solution is not unique
and therefore is not continuous.
However, the generalized solution can be derived for a up to 6 DOF
articulated structure (often used in robotics). A solution also
exists for structures with more than 6 DOF, when the features
of the structure satisfy some conditions [Cra89],
[MC94], [MZ94], [Chi96].