Efficient dynamics for a PUMA-600. - Michael B. Leahy Jr.; L. M. Nugent; Kimon P. Valavanis; George N. Saridis (ICRA, 1986)

Efficient PUMA manipulator jacobian calculation and inversion. - Michael B. Leahy Jr.; L. M. Nugent; George N. Saridis; Kimon P. Valavanis (J. Field Robotics, 1987)