1. Borrel, P.: A study of manipulator inverse kinematic solutions with application to trajectory planning and workspace determination. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1180–1185 (1986)
2. Wenger, Ph., Chablat, D.: Definition sets for the direct kinematics of parallel manipulators. In: 8th International Conference in Advanced Robotics, pp. 859–864 (1997)
3. Chablat, D., Wenger Ph.: Working modes and aspects in fully-parallel manipulator. In: Proceeding IEEE International Conference on Robotics and Automation, pp. 1964–1969, May (1998)
4. Innocenti, C., Parenti-Castelli, V.: Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators. Robotics, Spatial Mechanisms and Mechanical Systems, ASME (1992)
5. Macho, E., Altuzarra, O., Pinto, C., Hernandez, A.: Transitions between multiple solutions of the direct kinematic problem. In: Lenarčič, J., Wenger, P. (eds.) Advances in Robot Kinematics: Analysis and Design, pp. 301–310. Springer Netherlands (2008)