@inbook {Ulrich1991,
	title = {{Design methods of improving robot manipulator performance}},
	booktitle = {Advances in Design Automation, 1991},
	series = {DE (American Society of Mechanical Engineers. Design Engineering Division)},
	volume = {2},
	number = {32},
	year = {1991},
	pages = {545{\textendash}550},
	publisher = {American Society of Mechanical Engineers},
	organization = {American Society of Mechanical Engineers},
	address = {New York},
	isbn = {0-79180-748-4},
	author = {Ulrich, N T and Kumar, V},
	editor = {Gabriele, G A}
}
