WASET
    Y. S. Oh and  P. Abhishesh and  B. S. Ryuh,  Study on Robot Trajectory Planning by Robot  End-Effector Using Dual Curvature Theory of the Ruled Surface.   journal   = {International Journal of Mechanical and Materials Engineering}, [online]. World Academy of Science, Engineering and Technology.
    February 2017, vol. 123(3). 577 - 582
    [viewed 26 April 2024]. Available from: https://publications.waset.org/pdf/10006617.