Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations. - Resit Soylu; Joseph Duffy (J. Field Robotics, 1988)

Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications. - Resit Soylu; Joseph Duffy (J. Field Robotics, 1988)

Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators. - Resit Soylu; Joseph Duffy (J. Field Robotics, 1988)

A forward displacement analysis of a class of stewart platforms. - Michael Griffis; Joseph Duffy (J. Field Robotics, 1989)

Kinestatic Analysis of Multifingered Hands. - Lotfi Ben Romdhane 002; Joseph Duffy (Int. J. Robotics Res., 1990)

The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces. - Joseph Duffy (J. Field Robotics, 1990)

A kinematic analysis of the space station remote manipulator system (SSRMS). - Carl D. Crane III; Joseph Duffy; Tim Carnahan (J. Field Robotics, 1991)

Introduction to Theoretical Kinematics (J. M. McCarthy). - Joseph Duffy (SIAM Rev., 1991)

Kinematic Geometry of Mechanisms (K. H. Hunt). - Joseph Duffy (SIAM Rev., 1991)

A kinematic analysis of the modified flight telerobotic servicer manipulator system. - Carl D. Crane III; Tim Carnahan; Joseph Duffy (J. Field Robotics, 1992)

Redundant grasps, redundant manipulators, and their dual relationships. - David R. Kerr; Michael Griffis; D. John Sanger; Joseph Duffy (J. Field Robotics, 1992)

End-Effector Motion Capabilities of Serial Manipulators. - Udai Basavaraj; Joseph Duffy (Int. J. Robotics Res., 1993)

Inverse analysis of a planar two-spring system. - R. Hines; Joseph Duffy; E. J. F. Primrose (J. Field Robotics, 1996)

Two dimensional collision-free path planning using linear parametric curve. - Ihn Namgung; Joseph Duffy (J. Field Robotics, 1997)

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

A Practical Quality Index Based on the Octahedral Manipulator. - Jaehoon Lee; Joseph Duffy; Kenneth H. Hunt (Int. J. Robotics Res., 1998)

Determination of the unique orientation of two bodies connected by a ball-and-socket joint from four measured displacements. - Yu Zhang; Carl D. Crane III; Joseph Duffy (J. Field Robotics, 1998)

A general method for the computation of the canonical form of three-systems of infinitesimal screws. - José María Rico Martínez; Joseph Duffy (Robotica, 1998)

Fine motion control based on constraint criteria under pre-loading configurations. - Abdul Ghafoor; Jian S. Dai 001; Joseph Duffy (J. Field Robotics, 2000)

A Dynamic Analysis of a Spatial Manipulator to Determine Payload Weight. - Carl D. Crane III; Joseph Duffy (J. Field Robotics, 2003)