The Structure of an Extensible Java Applet for Spatial Linkage Synthesis. - Curtis L. Collins; J. Michael McCarthy; Alba Perez; Haijun Su (J. Comput. Inf. Sci. Eng., 2002)

Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials. - Alba Perez; J. Michael McCarthy (ICRA, 2005)