Guillermo Rodriguez. Recursive forward dynamics for multiple robot arms moving a common task object. IEEE Transactions on Robotics, 5(4):510-521, 1989. [doi]
@article{Rodriguez89-0,
title = {Recursive forward dynamics for multiple robot arms moving a common task object},
author = {Guillermo Rodriguez},
year = {1989},
doi = {10.1109/70.88065},
url = {http://dx.doi.org/10.1109/70.88065},
researchr = {https://researchr.org/publication/Rodriguez89-0},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {5},
number = {4},
pages = {510-521},
}