3Schroer Klaus, Albright S L, Grethlein M. Complete, minimal and model-continuous kine-matic models for robot calibration [ J ]. Robotics and Computer-Integrated Manufacturing, 1997, 13 ( 1 ) : 73-85.
4Veitschegger W K, Wu Chi-haur. Robot calibration and compensation[ J]. IEEE Journal of Robotics and Automation, 1988, 4(6) : 643-656.
5Hayati S A. Robot arm geometric link parameter estimation[C]//IEEE Control System Society, Proceedings of the IEEE Conference on Decision and Control Including The Symposium on Adaptive Processes 22^nd. New York: IEEE, 1983 : 1477-1453.
6Zhuang Hanqi, Roth Z S, Hamano F. A complete and parametrically continuous kinematic model for robot manipulators[ J]. IEEE Transactions on Robotics and Automation, 1992, 8(4) : 451-463.
7Chen Ming, Yang Guilin. Kinematic calibration of modular reconfigurable robots using product-of-exponentials formula[J]. Journal of Robotic Systems, 1997, 14( 11 ) : 807-821.
8He Ruibo, Zhao Yingjun, Yang Shunian, et al. Kinematic parameter identification for serial-robot calibration based on POE formula[J]. IEEE Transactions on Robotics, 2010, 26(3) : 411-423.
9Blanche J G,Yang D C H. Cycloid drives with machining tolerances [J ]. Journal of Mechanisms Transmissions,and Automation in Design, 1989,111 (9) : 337-344.
10Yang D C H, Blanche J G. Design and application guidelines for cycloid.drives with machining tolerances [J]. Mechanism and Machinery Theory, 1990,25 (5) : 487-501.