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Arm solution
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<h2 id="see-also">See also</h2> <ul><li><a href="/facts/321_kinematic_structure/MmPCBX5R">321 kinematic structure</a></li> <li><a href="/facts/Inverse_kinematics/VzEVGnNy">Inverse kinematics</a></li> <li><a href="/facts/Motion_planning/DoSPv4dB">Motion planning</a></li></ul> <h2 id="external-links">External links</h2> <ul><li><a href="http://infolab.stanford.edu/pub/voy/museum/pictures/display/1-Robot.htm">infolab.stanford.edu</a> - The Stanford Arm (1969), with a configuration such that the mathematical computations (arm solutions) were simplified to speed up computations</li> <li><a href="https://web.archive.org/web/20160924184009/http://www.dtic.mil/cgi-bin/GetTRDoc?AD=AD0680036">D. L. Pieper, The kinematics of manipulators under computer control</a>. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968.</li></ul>