@inproceedings{Ramirez10,
author = {Jose Gabriel Ramirez-Torres and Gregorio Toscano-Pulido and Apolinar Ramirez-Saldivar and Arturo Hernandez-Ramirez},
booktitle = {2010 IEEE Electronics, Robotics and Automotive Mechanics Conference},
title = {A Complete Closed-Form Solution to the Inverse Kinematics Problem for the P2Arm Manipulator Robot},
month = {Sept},
year = {2010},
pages = {372--377},
doi={10.1109/CERMA.2010.50},
url={http://doi.org/10.1109/CERMA.2010.50},
}