Dept. of Mech. Eng., National Taiwan Univ.Huang, Han-PangHan-PangHuang2007-04-192018-06-282007-04-192018-06-281988-04http://ntur.lib.ntu.edu.tw//handle/246246/2007041910032134application/pdf228678 bytesapplication/pdfen-US[SDGs]SDG11The unified formulation of constrained robot systemsjournal article10.1109/ROBOT.1988.12293http://ntur.lib.ntu.edu.tw/bitstream/246246/2007041910032134/1/00012293.pdf