Charles W. Wampler. A new Jacobian formulation for general six-revolute manipulators. In Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991. pages 1046-1051, IEEE, 1991. [doi]
@inproceedings{Wampler91, title = {A new Jacobian formulation for general six-revolute manipulators}, author = {Charles W. Wampler}, year = {1991}, doi = {10.1109/ROBOT.1991.131730}, url = {https://doi.org/10.1109/ROBOT.1991.131730}, researchr = {https://researchr.org/publication/Wampler91}, cites = {0}, citedby = {0}, pages = {1046-1051}, booktitle = {Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991}, publisher = {IEEE}, isbn = {0-8186-2163-X}, }