TY  - JOUR 
T1  - Differential kinematics of serial manipulators using virtual chains
JO  - Journal of the Brazilian Society of Mechanical Sciences and Engineering
A1  - Campos, A.
A1  - Guenther, R.
A1  - Martins, D.
SN  - 1678-5878
UL  - 10.1590/S1678-58782005000400002
VL  - 27 
Y1  - 2005
PB  - Brasil 
ER  -