CAD/CAM, Robotics and Automation Chapter 10, Section 10.3, 10.4 and Handout. - ppt download
CAD/CAM Robotics and Factories of the Future '90: Volume 2: Flexible Automation 5th International Conference on CAD/CAM, Robotics and Factories of the ... Society for Productivity Enhancement): Dwivedi, Suren N., Verma, Alok