Randy E. Ellis, S. Laurie Ricker. Two Numerical Issues in Simulating Constrained Robot Dynamics. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 24(1):19-27, 1994. [doi]
@article{EllisR94,
title = {Two Numerical Issues in Simulating Constrained Robot Dynamics},
author = {Randy E. Ellis and S. Laurie Ricker},
year = {1994},
doi = {10.1109/21.259682},
url = {https://doi.org/10.1109/21.259682},
researchr = {https://researchr.org/publication/EllisR94},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part A},
volume = {24},
number = {1},
pages = {19-27},
}