# A geometrical formulation for the workspace of parallel manipulators

> Research article (Robotica, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W4200513170](https://www.wikidata.org/wiki/openalex:W4200513170)  
**Source**: https://4ort.xyz/entity/a-geometrical-formulation-for-the-workspace-of-parallel-manipulators