8Uchiyama M, Dauchez P. A symmetric hybrid position/force con- trol scheme for the coordination of two robots [ C // Robotics and Automation, 1988. Proceedings, 1988 IEEE International Confer- ence, 1988 : 350 - 356.
10SEBASTIAN M, NICOLAS L B, JEROME I M.High resolution vector sensor array processing using quaternions[J]. IEEE Transactions on Signal Processing, 2005,13 : 918-923.