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MR1661738 (99h:70005) 70B15 (70-08)
Dasgupta, Bhaskar; Mruthyunjaya, T. S. A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. International Conference on Advances in Mechanical Engineering (ICAME) (Bangalore, 1995). Mech. Mach. Theory 33 (1998), no. 8, 1135–1152.
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