@inproceedings{CASE-2010-YangO,
	author        = "Yawei Yang and John F. O'Brien",
	booktitle     = "{Proceedings of the Sixth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2010.5584559",
	isbn          = "978-1-4244-5447-1",
	pages         = "222--227",
	publisher     = "{IEEE}",
	title         = "{Singularity-free workspace design for the translational 3-UPU parallel robot}",
	year          = 2010,
}