# A comparative study of the configuration-space and actuator-space formulations of the Lagrangian dynamics of parallel manipulators and the effects of kinematic singularities on these

> Research article (Mechanism and Machine Theory, 2018) · cited 19× · AI/ML

**Wikidata**: [openalex:W2890421216](https://www.wikidata.org/wiki/openalex:W2890421216)  
**Source**: https://4ort.xyz/entity/a-comparative-study-of-the-configuration-space-and-actuator-space-formulations-of-the-lagrangian-dynamics-of-parallel-ma