References

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[2]M. Chasles. Note sur les propriétés générales du système de deux corps semblables entr’eux et placés d’une manière quelconque dans l’espace; et sur le déplacement fini ou infiniment petit d’un corps solide libre. Bulletin des Sciences Mathématiques, Férussac, 14:321–26, 1830.
[3]W. Clifford. Mathematical Papers. Macmillan, London, 1882.
[4]J.K. Davidson and K.H. Hunt. Robots and screw theory: applications of kinematics and statics to robotics. Oxford University Press, 2004.
[5]F.C. Park, J.E. Bobrow, and S.R. Ploen. A lie group formulation of robot dynamics. The International Journal of Robotics Research, 14(6):609–618, 1995.
[6]L. Poinsot. Sur la composition des momens et la composition des aires. 1806.
[7]J. M. Selig. Geometric Fundamentals of Robotics. Monographs in Computer Science. Springer, 2005. ISBN 9780387208749.
[8]A.A. Shabana. Computational Dynamics, 3rd Edition. Wiley, 2010. ISBN 9780470686157.
[9]L.W. Tsai. Robot analysis: the mechanics of serial and parallel manipulators. John Wiley & Sons, 1999.
[10]J.J. Uicker, B. Ravani, and P.N. Sheth. Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems. Cambridge University Press, 2013.
[11]M. Yuan and F. Freudenstein. Kinematic analysis of spatial mechanisms by means of screw coordinates — part 2: analysis of spatial mechanisms. In volume 93, 67–73. ASME, 1970.