Last modified: 2020-12-26

#### Abstract

#### Keywords

#### References

1. Craig J.J. "Introduction to Robotics: Mechanics and Control". 3rd edition, Addison-Wesley, 2004

2.Spong, Mark W., Hutchinson, Seth, Vidyasagar, M, "Robot Modeling and Control". John Wiley and Sons Inc., 2005.

3. Bruyninckx, H. "Open robot control software: the OROCOS project". In.: Proc. of IEEE International Conference on Robotics and Automation (ICRA). Seoul, Korea, 2001, pp.2523-2528.

4.Pryor M., Taylor, R., Kapoor, C., Tesar, C.:"Generalized software components for reconfiguring hyper-redundant maniplators". IEEE/ASME Transactions on Mechatronics, 2002; 7(4): 475-478.

5. P. S. March, R. C. Taylor, C. Kapoor, D. Tesar. "Decision Making for Remote Robotic Operations". In: Proc. of IEEE Conf. on Robotics and Automation Vol. 3, 2004, pp. 2764-2769.

6. Gourdeau R. "Object-oriented programming for robotic manipulator simulation".

7.Corke P.I. "Robotics Toolbox for MATLAB". IEEE Robotics and Automation Magazine, 1996; 3(1): 24-32

8.Corke P.I, "A computer tool for simulation and analysis: the Robotics Toolbox for MATLAB". In: Proc. of the 1995 National Conference of the Australian Robot Association. Melbourne, ustralia, 1995, pp. 319-330.

9. J.F. Nethery; M.W. Spong: "Robotica: A Mathematical Package for Robot Analysis" IEEE Robotics and Automation magazine, 1993.

10. Denavit, J. and Hartenberg, R. S. "A Kinematic Notation for Lower-pair Mechanisms Based on Matrices" ASME Jornal of Applied Mechanics, 1955; 22: 215-221.

11. Pieper D.L. "The Kinematics of Manipulators under Computer Control". PhD thesis, Departament of mecanical Engineering, Stanford University, 1968

12. Tourassis, V. D. and Ang Jr, "Task decoupling in robotic manipulators". Journal of Intellegient and Roboti Systems, 1995; 14(3): 283-302.

13. Paul R. P., Renaud, M., and Stevenson, C. "A systematic approach for obtaining the kinematics of recursive manipulators based on Homogeneous transformations". In: M. Brady and R. Paul (eds) Robotics Research - the first internetional symposium. The MIT Press, Cambridge, massachusetts, 1984, pp.707-726

14. Wolovich W. "Robotics: Basic Analysis and Design". CBS College Publishing, 1987.

15. Paul R. "Robot manipulators : mathematics, programming, and control". The MIT Press, Cambridge, massachusetts, 1981 1984,