Kuniharu Takayama, Hiroyuki Kano. A new approach to synthesizing free motions of robotic manipulators based on a concept of unit motions. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1991, Osaka, Japan, November 3-5, 1991. pages 1406-1411, IEEE, 1991. [doi]
Abstract is missing.