@article{DAN_1976_230_2_a12,
     author = {I. I. Artobolevsky and A. G. Ovakimov},
     title = {On one property of matrix describing the structure of manipulator drive},
     journal = {Doklady Akademii Nauk},
     pages = {298--299},
     publisher = {mathdoc},
     volume = {230},
     number = {2},
     year = {1976},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1976_230_2_a12/}
}