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Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control

Bibliographic reference Ganovski, L ; Fisette, Paul ; Samin, Jean-Claude. Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control. In: Multibody System Dynamics, Vol. 12, no. 4, p. 317-343 (2004)
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