@techreport{IossifidisReimann2008,
  author    = {Ioannis Iossifidis and Hendrik Reimann},
  title     = {Mathematical and Simulation Framework for Arbitrary Open Chain Manipulators (IRINI 2008-03)},
  series = {Technical report, Institut f{\"u}r Neuroinformatik, Ruhr-Universitat Bochum},
  year      = {2008},
  language  = {en}
}