Kathryn W. Lilly, David E. Orin. Alternate Formulations for the Manipulator Inertia Matrix. I. J. Robotic Res., 10(1):64-74, 1991. [doi]
@article{LillyO91,
title = {Alternate Formulations for the Manipulator Inertia Matrix},
author = {Kathryn W. Lilly and David E. Orin},
year = {1991},
doi = {10.1177/027836499101000107},
url = {http://dx.doi.org/10.1177/027836499101000107},
researchr = {https://researchr.org/publication/LillyO91},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {10},
number = {1},
pages = {64-74},
}