BibTeX
@ARTICLE{
         Durrbaum2002CoA,
       year = "2002",
       issn = "1384-5640",
       journal = "Multibody System Dynamics",
       volume = "7",
       number = "4",
       doi = "10.1023/A:1015523018029",
       title = "Comparison of Automatic and Symbolic Differentiation in Mathematical Modeling and
         Computer Simulation of Rigid-Body Systems",
       url = "http://dx.doi.org/10.1023/A%3A1015523018029",
       publisher = "Kluwer Academic Publishers",
       keywords = "automatic differentiation; kinematics of parallel robots; rigid-body systems;
         benchmark examples",
       author = "D{\"u}rrbaum, Axel and Klier, Willy and Hahn, Hubert",
       pages = "331--355",
       language = "English",
       ad_tools = "ADOL-C"
}