Fast Symbolic Computation of the Inverse Kinematics of Robots. Proceedings IEEE International Conference on Robotics and Automation IEEE. :462–467.. 1990.
Symbolic Computaion of Closed Form Solutions with Prototype Equitations. Proceedings 2nd International Workshop on Advances in Robot Kinematics. :343–351.. 1990.
Symbolic Kinematic Inversion of Redundant Manipulators. Proceedings of the 4th International Symposium on Foundations of Robotics, Holzhau.. 1990.
Fourth and Second Order Solutions for Robots with Planar Joint Set. Proceedings of the 14th IASTED International Symposium Manufacturing and Robotics. :111–114.. 1991.
How to Obtain Correct Inverse Kinematics Solutions Using Paul's Inversion Method. Proceedings 14th IASTED International Symposium Manufacturing and Robotics. :44-47.. 1991.
Manipulator Classification by Means of a Kinematics Description Language. Proceedings of the 5th International Conference on Advanced Robotics. :678–682.. 1991.
Robotersimulation. :121–152.. 1991.