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Provides modeling, analysing and plotting functions for different manipulators.  Its functions are described in:

• Modeling - functions to model manipulators
• Analysing - functions to analyze singularities and more
• Plotting - functions to plot
• Mechanisms - Manipulators database

Provides algebraic functions based on the fgbrs library.  The functions are in:

• Base Algebra - functions to manipulate polynomial ideals
• Extra Algebra - specialized functions to manipulate polynomial ideals
• Trigonometric - functions to handle trigonometric expressions