Brost, Randy C. Planning robot grasping motions in the presence of uncertainty Robotics Institute Manipulators (Mechanism);Robots.;Puma 560 (Manipulator) 1985-01-01
    https://kilthub.cmu.edu/articles/journal_contribution/Planning_robot_grasping_motions_in_the_presence_of_uncertainty/6557657
10.1184/R1/6557657.v1