João Cavalcanti Santos Marc Gouttefarde A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics. 199-208 2020 ARK https://doi.org/10.1007/978-3-030-50975-0_25 conf/ark/2020 db/conf/ark/ark2020.html#SantosG20