Marcello Bonfé, Matteo Vignali, Mario Fiorini. PLC-based control of a robot manipulator with closed kinematic chain. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009. pages 1262-1267, IEEE, 2009. [doi]
Abstract is missing.