Krzysztof Tchon, Ignacy Duleba. Definition of a kinematic metric for robot manipulators. J. Field Robotics, 11(3):211-221, 1994. [doi]
@article{TchonD94, title = {Definition of a kinematic metric for robot manipulators}, author = {Krzysztof Tchon and Ignacy Duleba}, year = {1994}, doi = {10.1002/rob.4620110307}, url = {http://dx.doi.org/10.1002/rob.4620110307}, researchr = {https://researchr.org/publication/TchonD94}, cites = {0}, citedby = {0}, journal = {J. Field Robotics}, volume = {11}, number = {3}, pages = {211-221}, }