Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool.

Jun Wu Jinsong Wang Liping Wang Tiemin Li Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. 59-65 2009 27 Robotica 1 http://dx.doi.org/10.1017/S0263574708004529 db/journals/robotica/robotica27.html#WuWWL09