Direct calculation of minimum set of inertial parameters of serial robots

@article{Gautier1990DirectCO,
  title={Direct calculation of minimum set of inertial parameters of serial robots},
  author={Maxime Gautier and Wisama Khalil},
  journal={IEEE Trans. Robotics and Automation},
  year={1990},
  volume={6},
  pages={368-373}
}

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