Ivanov ВН. Motion Equations of Rigid Bodies Systems with Closed Kinematic Chains in Hamiltonian Variables. Вест. ПГУ. Мат. Мех. Инф. [Internet]. 2022 Dec. 22 [cited 2024 May 18];(4 (59):18-2. Available from: http://press.psu.ru/index.php/Math/article/view/5811