Dongya Zhao Shaoyuan Li Feng Gao fully adaptive feedforward decentralized control for 6-degree-of-freedom parallel robot. 1453-1457 2008 ICARCV http://dx.doi.org/10.1109/ICARCV.2008.4795737 conf/icarcv/2008 db/conf/icarcv/icarcv2008.html#ZhaoLG08