Kinematics of robot manipulators in the motor algebra
@InCollection{bayro301book,
  author = 	 {E. Bayro-Corrochano and D. K{"a}hler},
  booktitle = 	 {Geometric Computing with Clifford Algebra},
  title = 	 {Kinematics of robot manipulators in the motor algebra},
  publisher = 	 {Springer-Verlag, Heidelberg},
  year = 	 2001,
  editor =	 {G. Sommer},
  pages =        {471-488}
}