ALPATOV, Anatolii; KRAVETS, Victor; KRAVETS, Volodymyr; LAPKHANOV, Erik. Representation of the kinematics of the natural trihedral of a spiral-helix trajectory by quaternion matrices . Transactions on Engineering and Computing Sciences, [S. l.], v. 9, n. 4, p. 18–29, 2021. DOI: 10.14738/tmlai.94.10523. Disponível em: https://scholarpublishing.org/journals/index.php/TECS/article/view/2207. Acesso em: 6 may. 2026.