Mathematical formulation of constrained robot systems: a unified approach

Huang, H.-P.H.-P.HuangHAN-PANG HUANG2020-01-132020-01-131992https://scholars.lib.ntu.edu.tw/handle/123456789/447424Mathematical formulation of constrained robot systems: a unified approachjournal article10.1016/0094-114X(92)90067-R2-s2.0-0026955425https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026955425&doi=10.1016%2f0094-114X%2892%2990067-R&partnerID=40&md5=7853a76acbbdce032fbc2ec0f8117008