1. Brackett, R.W.: Robotic manipulators and the product of exponentials formula. Mathematical Theory and Networks and Systems. Proceeding of International Symposium, pp. 120–127. Springer, Berlin (1984)
2. Bükçü, B.: On the rotation matrices in semi-Euclidean space. Commun. Fac. Sci. Univ. Ank. Ser. A1(55), 7–13 (2006)
3. Erdoğdu, M., Özdemir, M.: Cayley formula in Minkowski space-time. Int. J. Geom. Methods Mod. Phys. 12, 05 (2015)
4. Gallier, J.H.: Geometric methods and applications, for computer science and engineering. Texts Appl. Math. 38, 680p (2011)
5. Kula, L., Karacan, M.K., Yaylı, Y.: Formulas for the exponential of semi symmetric matrix of order 4. Math. Comput. Appl. 10, 99–104 (2005)