For citations:

Nelaeva E.I., Chelnokov Yu.N. Solution to the Problems of Direct and Inverse Kinematics of the Robots-Manipulators Using Dual Matrices and Biquaternions on the Example of Stanford Robot Arm. Part 1. Mekhatronika, Avtomatizatsiya, Upravlenie. 2015;16(6):373-380. (In Russ.) https://doi.org/10.17587/mau.16.373-380