You-Nan Xu, Xin-Jun Liu, Jinsong Wang. Analytical Forward Kinematics for Two Kinds of Typical Tripods Part I: Closed-Form Solutions for Forward Kinematics Methods. In Chun-Yi Su, Subhash Rakheja, Honghai Liu, editors, Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Montreal, Canada, October 3-5, 2012, Proceedings, Part I. Volume 7506 of Lecture Notes in Computer Science, pages 271-281, Springer, 2012. [doi]
Abstract is missing.