Michael W. Walker. Manipulator kinematics and the epsilon algebra. IEEE Transactions on Robotics, 4(2):186-192, 1988. [doi]
@article{Walker88-0, title = {Manipulator kinematics and the epsilon algebra}, author = {Michael W. Walker}, year = {1988}, doi = {10.1109/56.2082}, url = {http://dx.doi.org/10.1109/56.2082}, researchr = {https://researchr.org/publication/Walker88-0}, cites = {0}, citedby = {0}, journal = {IEEE Transactions on Robotics}, volume = {4}, number = {2}, pages = {186-192}, }