Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators

@article{Duleba2002StructuralPO,
  title={Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators},
  author={Ignacy Duleba},
  journal={J. Field Robotics},
  year={2002},
  volume={19},
  pages={555-567}
}