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I used a similar idea a while ago, and have a suggestion that might be helpful. Once I had located the studs I used a scrap piece of timber as a template and marked out the position of the studs on the template. I then drilled the holes in the template using a drill press to ensure that the holes were perpendicular. Next I tacked the template to the wall, using it as a guide to drill the holes in the studs. Then I transferred the template to the shelf and used it as a guide to drill the holes in the shelf. Because both sets of holes were made with the same template the holes were perpendicular and lined up perfectly.
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