Zavala-Yoé, R., R. A. Ramírez-Mendoza, and D. Chaparro-Altamirano. “Kinematic and Dynamical Modelling for Control of a Parallel Robot-Based Surveillance/Sentry Device”. Advances in Military Technology, vol. 10, no. 1, Apr. 2015, pp. 15-30, https://aimt.cz/index.php/aimt/article/view/1056.