1. The principle of transference;Martinez;Mech. Mach. Theory,1993
2. J. Denavit, Description and displacement analysis of mechanisms based on 2×2 dual matrices (Ph.D. thesis), Northwestern University, 1956.
3. Displacement analysis of mechanisms based on 2×2 matrices and dual numbers;Denavit;VDI Ber.,1958
4. On the parametrization of the three-dimensional rotation group;Stuelpnagel;SIAM Rev.,1964