@article{MM2_1988__62_3_155334,
     author = {Adolf Karger},
     title = {Geometry of the {Motion} of {Robot} manipulators.},
     journal = {Manuscripta mathematica},
     pages = {115--126},
     publisher = {mathdoc},
     volume = {62},
     number = {3},
     year = {1988},
     zbl = {0653.53007},
     url = {http://geodesic.mathdoc.fr/item/MM2_1988__62_3_155334/}
}