# Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory

> Research article (2020 IEEE International Conference on Robotics and Automation (ICRA), 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3089697608](https://www.wikidata.org/wiki/openalex:W3089697608)  
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