[1]黄晓华[1],王兴成[2].机器人动力学的李群表示及其应用[J].中国机械工程,2007,18(2):201-205.
[2]刘延柱等著.多刚体系统动力学[M],1989:337.
[3]Wang C Y. Dynamic Motion Planning for Robot Manipulators Using B-Splines[D]. Irvine:University of California, 2001.
[4]Park F C, Bobrow J E, Ploen S R. A Lie Group Formulation of Robot Dynamics[J]. International Journal of Robotics Research, 1995, 14(6): 609- 618.
[5]理查德·摩雷,李泽湘.夏恩卡·萨思特里.机器人操作的数学导论[M].北京:机械工业出版社,1998 1
[6]Featherstone R. Efficient Factorization of the Joint Space Inertia Matrix for Branched Kinematic Trees [J]. International Journal of Robotics Research, 2005, 24(6):487-500.
[7]Jain A, Rodriguez G. Sensitivity Analysis for Multibody Systems Using Spatial Operators[C]// Sixth Int. Conf. on Methods and Models in Auto mation and Robotics. Miedzyzdroje, 2000: 31-38.
[8]Sohl G A, Bobrow J E. A Recursive Muttibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains[J]. Journal of Dynamic Systems, Measurement, and Control, 2001, 123 (3): 391- 399.
[9]霍伟.机器人动力学与控制[M],2005.