Author,Title,Journal,ISSN,Publisher,Date,Volume,Number,Page,URL,URL(DOI)
NAKAMURA Yoshihiko and HANAFUSA Hideo,Singularity Low-Sensitive Motion Resolution of Articulated Robot Arms,Transactions of the Society of Instrument and Control Engineers,04534654,The Society of Instrument and Control Engineers,1984,20,5,453-459,https://cir.nii.ac.jp/crid/1390282679481406848,https://doi.org/10.9746/sicetr1965.20.453