Fabrizio Baldini Giacomo Bucci Enrico Vicario A Tool Set for Modeling and Simulation of Robotic Workcells. 106-114 2005 conf/firb-perf/2005 FIRB-Perf http://doi.ieeecomputersociety.org/10.1109/FIRB-PERF.2005.5 db/conf/firb-perf/firb-perf2005.html#BaldiniBV05