Dinesh K. Pai, Tony H. S. Ser. Simultaneous computation of robot kinematics and differential kinematics with automatic differentiation. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 775-780, IEEE, 1993. [doi]
Abstract is missing.