@article{PIM_1973_N_S_15_29_a10,
     author = {Marko D. Lekop},
     title = {On {The} {Use} {Of} {Structural} {Formulae} {Of} {Kinematic} {Chains}},
     journal = {Publications de l'Institut Math\'ematique},
     pages = {95 },
     year = {1973},
     volume = {_N_S_15},
     number = {29},
     url = {http://geodesic.mathdoc.fr/item/PIM_1973_N_S_15_29_a10/}
}