1. Angeles J (1997) Fundamentals of robotic mechanical systems: theory, methods, and algorithms. Springer, New York
2. Biagiotti L, Melchiorri C (2008) Trajectory planning for automatic machines and robots. Springer, Berlin
3. Carvalho JCM, Ceccarelli M (1999) A dynamic analysis for cassino parallel manipulator. In: Proceedings of 10th IFToMM world congress, Oulu, vol 3, pp 1202–1207
4. Carvalho JCM, Ceccarelli M (2001a) The inverse dynamics of cassino parallel manipulator. In: Proceedings of 2nd workshop on computational kinematics—CK 2001, Seoul, pp 301–308
5. Carvalho JCM, Ceccarelli M (2001) A closed form formulation for the inverse dynamics of cassino parallel manipulator. J Multibody Syst Dyn 5(2):185–210