APA (7th ed.) Citation

Williams, R. L. (1992). The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis. National Aeronautics and Space Administration, Langley Research Center.

Chicago Style (17th ed.) Citation

Williams, Robert L. The Double Universal Joint Wrist on a Manipulator: Solution of Inverse Position Kinematics and Singularity Analysis. Hampton, VA: National Aeronautics and Space Administration, Langley Research Center, 1992.

MLA (9th ed.) Citation

Williams, Robert L. The Double Universal Joint Wrist on a Manipulator: Solution of Inverse Position Kinematics and Singularity Analysis. National Aeronautics and Space Administration, Langley Research Center, 1992.