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| <!-- http://excel2wiki.net -->
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Head center
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | align="center"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
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| |-
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| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
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| |-
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| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
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| |}
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Left eye
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
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| |-
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| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
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| |-
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| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
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| |-
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| | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|111||align="center"|0||align="center"|M3 → M5
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| |}
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