On the computation of the direct kinematics of parallel spherical mechanisms using Bernstein polynomials - researchr publication

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Carlos Bombin, Lluís Ros, Federico Thomas. On the computation of the direct kinematics of parallel spherical mechanisms using Bernstein polynomials. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, May 21-26, 2001, Seoul, Korea. pages 3332-3337, IEEE, 2001.

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