1. Matlab code for GDA.
https://github.com/Modi1987/The-Geometric-Dynamics-Algorithm-GDA-/
2. Corke, P.: Robotics, Vision and Control: Fundamental Algorithms in MATLAB, vol. 73. Springer, Heidelberg (2011)
3. Corke, P.I., et al.: A computer tool for simulation and analysis: the robotics toolbox for matlab. In: Proceedings of National Conference on Australian Robot Association, pp. 319–330 (1995)
4. De Luca, A., Albu-Schaffer, A., Haddadin, S., Hirzinger, G.: Collision detection and safe reaction with the DLR-III lightweight manipulator arm. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1623–1630. IEEE (2006)
5. De Luca, A., Ferrajoli, L.: A modified Newton-Euler method for dynamic computations in robot fault detection and control. In: IEEE International Conference on Robotics and Automation, 2009, ICRA 2009, pp. 3359–3364. IEEE (2009)