Analysis of a novel parallel manipulator for Rotary Humanoid Wrist based on screw theory. - Dachang Zhu; Jianwu Zhu; Yuefa Fang (ROBIO, 2008)

Design of Sliding Mode Controller with Low-Pass Filter for Robot Manipulators. - Jianwu Zhu; Dachang Zhu; Jinbao Cai (WKDD, 2009)