Vigen Arakelian. The Design of Planar Serial Manipulators with Decoupled Dynamics Taking into Account the Changing Payload.
Journal of Robotics and Mechanical Engineering Research, Verizona Publisher, 2016, 1 (4), pp.38-45.
⟨10.24218/jrmer.2016.20⟩.
⟨hal-02882785⟩