[1] R. P. Poul, Robot Manipulators: Mathematics Programming and Control, the MIT Press (1981).
[2] J. Y. S. Luh,et al., On-line computational scheme for mechanical manipulators, Trans. ASME, Journal of Dynamic System, Measurement and Control,102, 2 (1981), 69-71.
[3] U. M. Hbllerbach, A recursive lagrangian formulation of the manipulation dynamics and comparative study of dynamic formulation, LEES Trans. On System, Man and Cybernetics,10, 11 (1980), 730-736.
[4] C. S. G. Lee,et al., Development of the generalized D'Alembert equation of motion for mechanical manipulators, Proceedings of the 22nd conference on decision and control, Son Antonio Texas (1983), 14-16.
[5] Y. Z. Liu, et al., Dynamics of Multiple Rigid Body System, Higher Education Press (1989), 165-194 (in Chinese)