7[4]Denavit, Hartenberg R S.A Kinematic. Notation for Lower-Pair Mechanisms Based on Matrices. Jounal of Applied Mechanics, 1995,21(5):215～221. 被引量：1
8Dubey R V. Real-time implementation of an optimization scheme for seven-degree-of-freedom redundant manipulators. IEEE Tr. on Robotics and Automation, 1991, 7(5):579-588. 被引量：1
9Dahm P, Joublin F. Closed form solution for the inverse kinematics of a redundant robot arm. IR-INI 97-08, 1997,ISSN 0943-2752. 被引量：1
