Yi Cao Qiuju Zhang Hui Zhou Baokun Li Property Identification of 6-3 Stewart Parallel Manipulators for Special Orientations. 36-45 2008 ICIRA (1) http://dx.doi.org/10.1007/978-3-540-88513-9_5 conf/icira/2008-1 db/conf/icira/icira2008-1.html#CaoZZL08