David Daney Yves Papegay Arnold Neumaier Interval Methods for Certification of the Kinematic Calibration of Parallel Robots. 1913-1918 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308103 db/conf/icra/icra2004-2.html#DaneyPN04