Andreas Müller,
"An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory"
, in Mechanism and Machine Theory, Vol. 142, 12-2019, ISSN: 1873-3999
Original Titel:
An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory