W. W. Schrader

Pipeline/Parallel algorithms for the jacobian and inverse dynamics computations

David E. Orin, K. W. Olson, H. H. Chao, 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

Efficient Computation of the Jacobian for Robot Manipulators

W. W. Schrader, D. Orin, 1984 .