@techreport{024235402a9640d08a38ba387d389792,
title = "Actuatuation redundancy in closed-chain robot mechanism",
keywords = "closed-chain mechanism, direct-drive actuator, redundancy, robot, robot control, closed-chain mechanism, direct-drive actuator, redundancy, robot, robot control, closed-chain mechanism, direct-drive actuator, redundancy, robot, robot control",
author = "T. Ropponen",
year = "1993",
language = "English",
series = "Acta Polytechnica Scandinavica",
number = "109",
type = "WorkingPaper",
}