@misc{indiciae9ee8d3361bd1,
  title = {Spatial-Operator Algebra For Robotic Manipulators},
  author = {Rodriguez, Guillermo and Kreutz, Kenneth K. and Milman, Mark H.},
  year = {1991},
  url = {https://ntrs.nasa.gov/citations/19910000413},
  note = {Source identifier: 19910000413}
}