Welcome to R. James Milgram's Website

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Private Data - The Real Story
A Response to J Boaler by Wayne Bishop
Examination of Boaler's Railside Article
More Education Papers
Complete Path Planning for a Planar 2-R Manipulator
Geometry of Configuration Spaces for Closed Chains of 2-D Revolute Mechanisms
The Inverse Map for Serial Revolute Mechanisms
Serial Mechanisms with Offset Revolute Joints
Complete path planning for planar 3R manipulators with point obstacles
Path Planning for Closed Kinematic Chains with Spherical Joints
On the Inverse Kinematics of a Fragment of Protein Backbone