1. Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory*
2. A new implementation for online calculation of manipulator Jacobian
3. The jacobian matrix based on the transfer matrices;crisan;ACTA TECHNICA NAPOCENSIS-Series APPLIED MATHEMATICS MECHANICS and ENGINEERING,2019
4. A systematic approach to computing the manipulator jacobian and hessian using the elementary transform sequence;haviland,2020
5. Algebraic approach to the stiffness model reduction for manipulators with double encoders