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Johnson, Colin G. and Marsh, Duncan (1996) Modelling Robot Manipulators in a CAD Environment Using B-Splines. In: Bourbakis, Nikolaos G., ed. Proceedings IEEE International Joint Symposia on Intelligence and Systems. IEEE, pp. 194-201. ISBN 0-8186-7728-7. (doi:10.1109/IJSIS.1996.565069) (KAR id:21324)

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