1. M.P. Institute, PC-SYM-Program package for computer-aided generation of robot symbolic models and control laws––user manual. Mihajlo Pupin Institute, Beograd, 1990
2. A new program package for the generation of efficient manipulator kinematic and dynamic equations in symbolic form;Kirćanski;Robotica,1988
3. SYM-program for computer-aided generation of optimal symbolic models of robot manipulators;Vukobratović,1989
4. Symbolic modeling in robotics: genesis, application and future prospects;Kirćanski;Journal of Intelligent and Robotic Systems,1993
5. Applied Control of Manipulation Robots;Vukobratović,1989