You-Liang Gu, J. Y. S. Luh. Dual-number transformation and its applications to robotics. IEEE Transactions on Robotics, 3(6):615-623, 1987. [doi]
@article{GuL87,
title = {Dual-number transformation and its applications to robotics},
author = {You-Liang Gu and J. Y. S. Luh},
year = {1987},
doi = {10.1109/JRA.1987.1087138},
url = {http://dx.doi.org/10.1109/JRA.1987.1087138},
researchr = {https://researchr.org/publication/GuL87},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {3},
number = {6},
pages = {615-623},
}