Geodesic
On the geometry of compound kinematic chains
Doklady Akademii Nauk, Tome 119 (1958) no. 1, pp. 38-41

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     author = {Yu. F. Morochkin},
     title = {On the geometry of compound kinematic chains},
     journal = {Doklady Akademii Nauk},
     pages = {38--41},
     publisher = {mathdoc},
     volume = {119},
     number = {1},
     year = {1958},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1958_119_1_a8/}
}
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Yu. F. Morochkin. On the geometry of compound kinematic chains. Doklady Akademii Nauk, Tome 119 (1958) no. 1, pp. 38-41. http://geodesic.mathdoc.fr/item/DAN_1958_119_1_a8/