Ahmad Hemami. Kinematics of two-arm robots. IEEE Transactions on Robotics, 2(4):225-228, 1986. [doi]
@article{Hemami86, title = {Kinematics of two-arm robots}, author = {Ahmad Hemami}, year = {1986}, doi = {10.1109/JRA.1986.1087058}, url = {http://dx.doi.org/10.1109/JRA.1986.1087058}, researchr = {https://researchr.org/publication/Hemami86}, cites = {0}, citedby = {0}, journal = {IEEE Transactions on Robotics}, volume = {2}, number = {4}, pages = {225-228}, }