@PHDTHESIS{Xu2017,
url = "http://www.theses.fr/2017ISAR0004",
title = "An improved design concept permitting the dynamic decoupling of serial manipulators taking into account the changing payload",
author = "Xu, Jiali",
year = "2017",
note = "Thèse de doctorat dirigée par Le Baron, Jean-Paul Génie mécanique Rennes, INSA 2017",
note = "2017ISAR0004",
url = "http://www.theses.fr/2017ISAR0004/document",
}