Theory and practice of robots and manipulators: A. Morecki and K. Kedzior, Eds., Proceedings of the Second International CISM-IFToMM Symposium, Warsaw, Poland, September 14–17, 1976, Elsevier Scientific Publishing Company, Amsterdam, 500 pages
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论文评审过程：Available online 16 June 2003.
论文官网地址：https://doi.org/10.1016/0004-3702(78)90004-8
