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Johnson, Colin G. and Marsh, Duncan (1999) Modelling robot manipulators with multivariate B-splines. Robotica, 17 (3). pp. 239-247. ISSN 0263-5747. (Full text available)
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Johnson, Colin G. and Marsh, Duncan (1996) Modelling Robot Manipulators in a CAD Environment Using B-Splines. In: Proceedings of the 1996 IEEE Joint Symposia on Intelligence and Systems. (Full text available)
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