Motor algebra approach for computing the kinematics of robot manipulators
 @Article{bayro00jrs,
  author = 	 {E. Bayro-Corrochano and D. K{\"a}hler},
  title = 	 {Motor algebra approach for computing the kinematics of robot manipulators},
  journal = 	 {Journal of Robotic Systems},
  year = 	 2000,
  volume =	 17,
  number =	 9,
  pages =	 {495-516}
}