# A novel tool path smoothing algorithm of 6R manipulator considering pose-dependent dynamics by designing asymmetrical FIR filters

> Research article (Robotics and Computer-Integrated Manufacturing, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4388028691](https://www.wikidata.org/wiki/openalex:W4388028691)  
**Source**: https://4ort.xyz/entity/a-novel-tool-path-smoothing-algorithm-of-6r-manipulator-considering-pose-dependent-dynamics-by-designing-asymmetrical-fi