@incollection {jue:98c,
 author = {B. J{\"u}ttler},
 title = {Rotation minimizing spherical motions},
 booktitle = {Advances in robot kinematics: analysis and control (J. Lenar\v{c}i\v{c} and M. Husty, eds.)},
 pages = {413--422},
 publisher = {Kluwer Acad. Publ.},
 address = {Dordrecht},
 year = {1998}
}