@phdthesis{h-kmrm-86 
, author =  "D. Halperin" 
, title =   "Kinematic modelling of robot manipulators and automatic generation of their inverse kinematics solutions" 
, type =    "M.{S}c. Thesis" 
, school =  "Computer Science Department, Tel-Aviv University" 
, address = "Tel Aviv" 
, month =   aug 
, year =    1986 
, keywords =    "master thesis" 
}