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Hybrid force/position control for a 3-DOF 1T2R parallel rob..:

Cazalilla, José ; Vallés, Marina ; Valera, Ángel..
Mechanics Based Design of Structures and Machines.  44 (2016)  1-2 - p. 16-31 , 2016
Link: https://doi.org/10.1080/15397734.2015.1030679