3[6]Youcef-Toumi, K and A.T.Y. Kuo, 1993. High-speed trajectory control of derict-drive manipulators, IEEE trans. On Robotics and Automation, 9(1),102-108.
4[7]Ghorbel, F. 1995. Modeling and PD control of a closed-chain mechanical system. Proceeding of the 34th conference on Decision & control,New Orleans, LA USA,pp540-542.
5[8]Lin, M-C and J-S Chen, 1996. Experiments toward MRAC design for linkage system, Mechatronics, 6(8),933-953.
6[9]L. S Guo and Q. Zhang, 2001. Adaptive Trajectory Control of A Two DOF Closed-chain Robot. Proceedings of the AmericanControl Conference, Arlington, VA June 25-27,2001.
4Tokuz L C. Hybrid machine modeling and control [ D]. Liverpool Polytechnic: Department of Mech, Marine and Production Eng, 1992.
5Ghorbel F. Modeling and PD control of a closed-chain mechanical system [ C ]// Proceeding of the 34th conference on decision & control, New Orleans, LA USA, 1995: 540 - 542.
7Yan Hongsen, Soong Renchung. Kinematic and dynamic design of four-bar linkages by link counterweighing with variable input speed [ J ]. Mechanism and machine theory, 2001, 36: 1051- 1071.