@article{yangxiaohui_zhang_chen_xu_liu_2019, 
  title={Udwadia-Kalaba Approach for Three Link Manipulator Dynamics With Motion Constraints}, 
  DOI={10.1109/access.2019.2909934}, 
  publisher={Institute of Electrical and Electronics Engineers (IEEE)}, 
  author={YangXiaohui and Zhang and Chen and Xu and Liu}, 
  year={2019}
  }