1. R. S. Ball, A Treatise on the Theory of Screws (Cambridge Univ. Press, Cambridge, 1900).
2. F. M. Dimentberg, The Screw Calculus and Its Application in Mechanics (Nauka, Moscow, 1965) [in Russian].
3. L. Poinsot, Elèments de Statique (Paris, 1804; Nauch.-Tekh. Izd., Petrograd, 1920).
4. A. P. Kotelnikov, The Screw Calculus and Some of Its Applications to Geometry and Mechanics (Annals of the Imperial University of Kazan, 1895) [in Russian].
5. R. M. Murray, Z. Li, and S. Sastry Shankar, A Mathematical Introduction to Robotic Manipulation (CRC Press, 1994).