Robot accuracy analysis based on kinematics. - William K. Veitschegger; Chi-Haur Wu (IEEE J. Robotics Autom., 1986)

A method for calibrating and compensating robot kinematic errors. - William K. Veitschegger; Chi-Haur Wu (ICRA, 1987)

Robot calibration and compensation. - William K. Veitschegger; Chi-Haur Wu (IEEE J. Robotics Autom., 1988)