Kinematic analysis of geared robot manipulators by the concept of structural decomposition

DAR-ZEN CHEN2020-01-132020-01-131998https://scholars.lib.ntu.edu.tw/handle/123456789/447191Kinematic analysis of geared robot manipulators by the concept of structural decompositionjournal article10.1016/S0094-114X(97)00104-32-s2.0-0032184295https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032184295&doi=10.1016%2fS0094-114X%2897%2900104-3&partnerID=40&md5=6f0c6338f410da8d639b624de26e89d3