Analytical Form Solution of the Direct Kinematics of a 4-4 Fully In-Parallel Actuated Six Degree-of Freedom Mechanism.

Carlo Innocenti Vincenzo Parenti-Castelli Analytical Form Solution of the Direct Kinematics of a 4-4 Fully In-Parallel Actuated Six Degree-of Freedom Mechanism. 1993 17 Informatica (Slovenia) 1 db/journals/informaticaSI/informaticaSI17.html#InnocentiP93