Soumya Bhattacharya, Dragomir N. Nenchev, Masaru Uchiyama. A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 2671-2676, IEEE, 1997. [doi]
Abstract is missing.