Walter Schwinn. On the influence of tool geometry on robot motions. Advanced Robotics, 6(3):319-333, 1991. [doi]
@article{Schwinn91,
title = {On the influence of tool geometry on robot motions},
author = {Walter Schwinn},
year = {1991},
doi = {10.1163/156855392X00123},
url = {http://dx.doi.org/10.1163/156855392X00123},
researchr = {https://researchr.org/publication/Schwinn91},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {6},
number = {3},
pages = {319-333},
}