Z. Li, Josef Schicho,
"A technique for deriving equational conditions on the Denavit-Hartenberg parameters of a 6R linkage that are necessary for movability"
, in Mechanism and Machine Theory, Vol. 94, Seite(n) 1-8, 2015, ISSN: 1873-3999
Original Titel:
A technique for deriving equational conditions on the Denavit-Hartenberg parameters of a 6R linkage that are necessary for movability