Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work.

Yongjie Zhao Feng Gao Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work. 259-268 2009 27 Robotica 2 http://dx.doi.org/10.1017/S0263574708004657 db/journals/robotica/robotica27.html#ZhaoG09