@ARTICLE{Wilhelms00jt,
	AUTHOR	= "Jane Wilhelms and Van Gelder, Allen",
	TITLE	= "Fast and Easy Reach-Cone Joint Limits",
	JOURNAL = "Journal of Graphics Tools",
	NUMBER	= "2",
	VOLUME  = "6",
	YEAR	= "2001",
	PAGES	= "27--41",
	MONTH	= "",
        ADDRESS = "",
	ANNOTE	= "Available at\newline
		{\tt ftp://ftp.cse.ucsc.edu/pub/avg/jtl.pdf.}",
	NOTE	= ""
	}