1. Robot manipulators: mathematics, programming control;Paul,1981
2. Computatio for Robots to Orient and Position Hand-Held Workpieces;Birk;IEEE Trans. on SMC,1976
3. Solving Leas Squares Problems;Lawson,1974
4. Singular value Decomposition, Applications and Computations;Golub;Stanford Report,1976
5. Optimization by vector space methods;Luenberger,1969