selected publications

• article

  • A new spatial hyper-redundant manipulator.  Robotics and Computer-Integrated Manufacturing.  25:703-708. 2009-01-01
  • A novel and efficient kinematic synthesis approach of the spherical 4R function generator for five and six precision points.  Mechanism and Machine Theory.  44:2020-2037. 2009-01-01
  • Some improvements on the exact kinematic synthesis of spherical 4R function generators.  Mechanism and Machine Theory.  44:103-121. 2009-01-01
  • The differential calculus of screws: Theory, geometrical interpretation, and applications.  Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science.  223:1449-1468. 2009-01-01
  • A novel geometrical derivation of the Lie product.  Mechanism and Machine Theory.  39:1067-1079. 2004-01-01