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Kinematics and dynamics Hessian matrices of manipulators based on screw theory
Zhao, Tieshi; Geng, Mingchao; Chen, Yuhang; Li, Erwei; Yang, Jiantao. Chinese Journal of Mechanical Engineering = Ji xie gong cheng xue bao Vol. 28, Iss. 2, (2015): 226-235.You might have access to this document
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