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Manipulator Classification by Means of a Kinematics Description Language. Proceedings of the 5th International Conference on Advanced Robotics. :678–682.. 1991.
How to Obtain Correct Inverse Kinematics Solutions Using Paul's Inversion Method. Proceedings 14th IASTED International Symposium Manufacturing and Robotics. :44-47.. 1991.
Fourth and Second Order Solutions for Robots with Planar Joint Set. Proceedings of the 14th IASTED International Symposium Manufacturing and Robotics. :111–114.. 1991.
Fast Symbolic Computation of the Inverse Kinematics of Robots. Proceedings IEEE International Conference on Robotics and Automation IEEE. :462–467.. 1990.
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