References

The control of a toy robot ARM: a real time programming experience http://portal.acm.org/citation.cfm?id=31726.31791

Distributed Digital Control of a Robot Arm

Neural networks for robot arm control http://www.itee.uq.edu.au/~wyeth/Publications/puma.PDF http://www.science.uva.nl/research/ias/research/learn/old_projects/pdp.html

50 paper/50 model