著者名,論文名,雑誌名,ISSN,出版者名,出版日付,巻,号,ページ,URL,URL(DOI) MILLS JK,Robotic manipulator collisions:modeling and simulation.,Trans ASME-J Dynam Syst Measurement Cont,,,1992,114,,650-659,https://cir.nii.ac.jp/crid/1573668926471729024,