학위논문(박사) - 한국과학기술원 : 자동화및설계공학과, 1997.8, [ xvi, 229 p. ]
직렬부속관절; 6자유도; 정기구학; 병렬 매니퓰레이터; 해석해; Closed-form solution; Serial subchain; 6DOF; Forward kinematics; Parallel manipulator
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