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Efficient formulation of the force distribution equations for general tree-structured robotic mechanisms with a mobile base

Min-Hsiung Hung, David E. Orin, Kenneth J. Waldron. Efficient formulation of the force distribution equations for general tree-structured robotic mechanisms with a mobile base. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 30(4):529-538, 2000.

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