Oliver J. Barrowclough, Bert Jüttler, Tino Schulz,
"Fast Approximate Implicitization of Envelope Curves using Chebyshev Polynomials"
, in J. Lenarcic and M. Husty: Latest Advances in Robot Kinematics, Springer, Seite(n) 205-212, 2012
Original Titel:
Fast Approximate Implicitization of Envelope Curves using Chebyshev Polynomials