1. C. S. G. Lee, “Robot Arm Kinematics, Dynamics, and Control,” IEEE Computer, Vol. 15, No. 12, pp. 62–80, Dec. 1982.
2. K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, New York: McGraw-Hill, 1987.
3. R. P. Paul, Robot Manipulator: Mathematics, Programming and Control, the MIT Press, Cambridge, MA, 1981.
4. Y. Koren, Robotics for Engineers, New York: McGraw-Hill, 1985.
5. J. J. Craig, Introduction to Robotics, Addison-Wesley, 1986.