Fan-Tien Cheng, David E. Orin. Efficient formulation of the force-distribution equations for simple closed-chain robotic mechanisms. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 21(1):25-32, 1991. [doi]
@article{ChengO91a-0,
title = {Efficient formulation of the force-distribution equations for simple closed-chain robotic mechanisms},
author = {Fan-Tien Cheng and David E. Orin},
year = {1991},
doi = {10.1109/21.101133},
url = {http://dx.doi.org/10.1109/21.101133},
researchr = {https://researchr.org/publication/ChengO91a-0},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part A},
volume = {21},
number = {1},
pages = {25-32},
}