6 Acknowledgement The financial support of the National Science Foundation through a Presidential Young Investigator Award (No. ...  Gerald, C. F. and Wheatley, P. 0., Applied Numerical Analysis, 4th Edition, Addison- Wesley, 1989.
|Title||:||Robotics, spatial mechanisms, and mechanical systems|
|Author||:||Gary L. Kinzel, American Society of Mechanical Engineers. Design Engineering Division|
|Publisher||:||Amer Society of Mechanical - 1992|