Numerical and experimental characterization of singularities of a six-wire parallel architecture.

Erika Ottaviano Marco Ceccarelli Numerical and experimental characterization of singularities of a six-wire parallel architecture. 315-324 2007 25 Robotica 3 http://dx.doi.org/10.1017/S0263574706003110 db/journals/robotica/robotica25.html#OttavianoC07