“Direct and Inverse Position Kinematics of 3-UPS Parallel Manipulators”, J. eng. sustain. dev., vol. 12, no. 2, pp. 84–100, Jun. 2008, Accessed: Jul. 22, 2024. [Online]. Available: https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1668