Ronald Kurtz, Vincent Hayward. Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy. IEEE Transactions on Robotics, 8(5):644-651, 1992. [doi]
@article{KurtzH92,
title = {Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy},
author = {Ronald Kurtz and Vincent Hayward},
year = {1992},
doi = {10.1109/70.163788},
url = {http://dx.doi.org/10.1109/70.163788},
researchr = {https://researchr.org/publication/KurtzH92},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {8},
number = {5},
pages = {644-651},
}