Anatoly Pashkevich Roman Gomolitsky Philippe Wenger Damien Chablat Calibration of quasi-isotropic parallel kinematic machines: Orthoglide. 84-91 2007 conf/icinco/2007ra1 ICINCO-RA (1) db/conf/icinco/icinco2007-ra1.html#PashkevichGWC07