TY - JOUR A1 - Hsu, K.-L. T1 - Synthesis of trigonometric motion programs with lower motion characteristics JO - Mech. Sci. J1 - MS VL - 13 IS - 1 SP - 111 EP - 121 Y1 - 2022/02/23 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/13/111/2022/ L1 - https://ms.copernicus.org/articles/13/111/2022/ms-13-111-2022.pdf DO - 10.5194/ms-13-111-2022 ER -