Flavien Paccot Nicolas Andreff Philippe Martinet A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments. 395-416 2009 28 I. J. Robotic Res. 3 http://dx.doi.org/10.1177/0278364908096236 db/journals/ijrr/ijrr28.html#PaccotAM09