Wang, J. C.J. C.Wang黃漢邦Huang, Han-PangHan-PangHuang2009-05-152018-06-282009-05-152018-06-281993-03http://ntur.lib.ntu.edu.tw//handle/246246/156474Hsinchuen-USConstruction of Geometric Constraint Frames for Constrained Manipulatorsconference paper