T. C. Yih. A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots. J. Field Robotics, 8(4):415-442, 1991. [doi]
@article{Yih91,
title = {A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots},
author = {T. C. Yih},
year = {1991},
doi = {10.1002/rob.4620080402},
url = {http://dx.doi.org/10.1002/rob.4620080402},
researchr = {https://researchr.org/publication/Yih91},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {8},
number = {4},
pages = {415-442},
}