http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
double universal joint wrist on a manipulator
solution of inverse position kinematics and singularity analysis
1 online resource (approximately 42 pages) : illustrations.
GPO Cataloging Record Distribution Program (CRDP).
Includes bibliographical references (page 24).