Articular velocities of parallel manipulators. II. Finding all the robots with fixed extremal articular velocity for performing a fixed cartesian velocity over a whole workspace.

Jean-Pierre Merlet Articular velocities of parallel manipulators. II. Finding all the robots with fixed extremal articular velocity for performing a fixed cartesian velocity over a whole workspace. 3262-3267 1997 ICRA https://doi.org/10.1109/ROBOT.1997.606786 conf/icra/1997 db/conf/icra/icra1997.html#Merlet97