Design of a compact statically balanced direct-drive manipulator. - Tarek M. Abdel-Rahman; Mohamed A. Elbestawi (Robotica, 1990)

A Generalized Practical Method for Analytic Solution of the Constrained Inverse Kinematics Problem of Redundant Manipulators. - Tarek M. Abdel-Rahman (Int. J. Robotics Res., 1991)