Motion Control Library - Help needed

Hi,

I want to understand, how to give a specific robot parameters.

In the test example of  'Kuka361', the following parameters sent to the
'KinematicInterface':
        FSZYYDWH* ki = new FSZYYDWH();
        ki->geometrySet( 1.020,0.480,0.645,0.,0.,0.120 );
        ki->offsetSet(0.);
        ki->eccentricitySet(0.);
In order to define the properties of this specific robot.

Can any one, give a short description, how to calculate this parametrs? 
OR,
A link, where I can find on the net the following articles:

   - R. Featherstone, ``Position and Velocity Transformations between
Robot
     End-Effector Coordinates and Joint Angles'', International Journal
of
     Robotics Research, Vol. 2, No. 2, pp. 35-45, 1983, and

   - K. H. Low and R. N. Dubey, ``A Comparative Study on Generalized
Coordinates
     for Solving the Inverse-Kinematics Problem of a 6R Robot
Manipulator,''
     International Journal of Robotics Research, Vol. 5, No. 4, pp.
69-88, 1986.
 
OR, 
A link, where I can find this parameters for other known robots.


Is the algorithms in the 'ZXXDWH' directory also good for 'ZXXXYZ'
robots or not, and if not did someone implement them ?
The same for 'ZYYDWH'.

Tn'x &
Best regards,

Meir Lebel
[email protected]