@article{KYB_2012__48_6_a11,
     author = {Mercorelli, Paolo},
     title = {A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms},
     journal = {Kybernetika},
     pages = {1266--1288},
     publisher = {mathdoc},
     volume = {48},
     number = {6},
     year = {2012},
     mrnumber = {3052885},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2012__48_6_a11/}
}