A complete and parametrically continuous kinematic model for robot manipulators. - Hanqi Zhuang; Zvi S. Roth; Fumio Hamano (IEEE Trans. Robotics Autom., 1992)

Optimal design of robot accuracy compensators. - Hanqi Zhuang; Zvi S. Roth; Fumio Hamano (IEEE Trans. Robotics Autom., 1993)

Derivative of Rotation Matrix Direct Matrix Derivation of Well Known Formula. - Fumio Hamano (CoRR, 2013)