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Normal posture adjustment algorithm for lightweight auto-crawling drilling and riveting system based on parallel mechanism
HAN Feng, TIAN Wei, LIAO Wenhe, ZHANG Xuan, WANG Lifeng
ACTA AERONAUTICAET ASTRONAUTICA SINICA . 2015, (6): 2083 -2090 .  DOI: 10.7527/S1000-6893.2014.0264