Kamal Youcef-Toumi, Haruhiko Asada. The design of open-loop manipulator arms with decoupled and configuration-invariant inertia tensors. In Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, California, USA, April 7-10, 1986. pages 2018-2026, IEEE, 1986. [doi]
Abstract is missing.