Title:Tailored Formulations of geometric constraints for algebraic analysis of mechanism kinematicsAuthor(s):Samuli Piipponen, E. Hyry, Jukka Tuomela, Andreas MüllerBooktitle:39 Mechanisms and Robotics Conference (MECH), ASME 2015 International Design Engineering Technical ConferencesPage Reference:1 page(s)Publishing:8/2015