Robot trajectory planning using the convolution operator. - C. R. Mirman; Krishna C. Gupta (J. Field Robotics, 1987)

Compensation of Robot joint variables using special Jacobian matrices. - C. R. Mirman; Krishna C. Gupta (J. Field Robotics, 1992)

Identification of Position-Independent Robot Parameter Errors Using Special Jacobian Matrices. - C. R. Mirman; Krishna C. Gupta (Int. J. Robotics Res., 1993)