@misc{indiciae5c05e3ed4dcb,
  title = {Spatial operator factorization and inversion of the manipulator mass matrix},
  author = {Rodriguez, Guillermo and Kreutz-Delgado, Kenneth},
  year = {1992},
  url = {https://ntrs.nasa.gov/citations/19920047082},
  note = {Source identifier: 19920047082}
}