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2 Rembo ld Ulrich. Ro bot techno lo gy and applications. New Yo rk & Basel: Mar cel Dekker,Inc, 1990. 7~11
3 付京逊, 冈萨雷斯R C, 李C S . 机器人学. 北京: 中国科学技术出版社, 1989. 113~127
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