Application of the principle of energy equivalence to obtain suitable models of parallel planar mechanisms for identification including friction parameters. A case study: 5R RePlaLink haptic mechanism

1. Roldán-Paraponiaris, C.
2. Campa, F.J.
3. Paris, J.
4. Kölling, T.
5. Altuzarra, O.
6. Corves, B.