A Robot Programming Environment Based on Free-Form CAD Modeling. - Colin G. Johnson; Duncan Marsh (ICRA, 1998)

Singular Aspects of General Planar Motions with Two Degrees of Freedom. - Christopher George Gibson; Duncan Marsh; Yanling Xiang (Int. J. Robotics Res., 1998)

Catastrophe Analysis of the Planar Two-Spring Mechanism. - R. Hines; Duncan Marsh; Joseph Duffy (Int. J. Robotics Res., 1998)

Modelling robot manipulators with multivariate B-splines. - Colin G. Johnson; Duncan Marsh (Robotica, 1999)