9Eiichirou TANAKA, Naoyuki TANAKA, Kousaka OHNO. Vibration Analysis of multi-Stage Gear System Including Drive Mechanism Elements[ J]. JSME International Journal ,2001,44(2) :307 - 314.
10Ricardo Campa, Rafael Kelly, Victor Santibanez. Windows-based real-time control of direct-drive mechanisms: platform description and experiments [ J ]. Mechatronics ,2004 ( 14 ) : 1021 - 1036.