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      Control Distribution of Partially Decoupled Multi-level Manipulators with 5 DOFs 

      Loizaga Garmendia, Maider; Altuzarra Maestre, Oscar ORCID; Pinto Cámara, Charles Richard; Petuya Arcocha, Víctor ORCID (Cambridge University Press, 2017-02-01)
      Multi-level manipulators are those mechanisms in which two or more levels, that de ne the main chain of the manipulator, are joined in parallel to each other. Besides, each level is linked to the base in parallel by ...