Andreas Müller,
"Local Kinematic Analysis of Closed-Loop Linkages -Mobility, Singularities, and Shakiness"
, in Journal of Mechanisms and Robotics, Vol. 8, Nummer 4, Seite(n) 041013, 8-2016, ISSN: 1942-4302
Original Titel:
Local Kinematic Analysis of Closed-Loop Linkages -Mobility, Singularities, and Shakiness