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Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms
章定国
Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms
ZHANG Ding-Guo
Applied Mathematics and Mechanics (English Edition) . 2009, (10): 1283 -1294 .  DOI: 10.1007/s10483-009-1008-2

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