What's in a linkage? Review of: Glenn Kramer, solving geometric constraint systems

Artificial Intelligence 61 (2):343-349 (1993)
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10.1016/0004-3702(93)90074-l

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Computational kinematics.Leo Joskowicz & Elisha P. Sacks - 1991 - Artificial Intelligence 51 (1-3):381-416.

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