Huang, H.-P.H.-P.HuangKo, Y.-C.Y.-C.KoHAN-PANG HUANG2020-01-132020-01-131992https://scholars.lib.ntu.edu.tw/handle/123456789/447429Contact force analysis of robotic manipulatorsjournal article10.1080/02533839.1992.96773892-s2.0-0026626509https://www.scopus.com/inward/record.uri?eid=2-s2.0-0026626509&doi=10.1080%2f02533839.1992.9677389&partnerID=40&md5=d34dc4406b90cb4a20ee791cda2334e9