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This paper presents a new formulation for the manifold fitting problem using algebraic distance and shows that the problem can be solved by fitting a pencil of quadrics with linear coefficients to a set of image points of a given set of displacements. This linear formulation leads to a simple and fast algorithm for kinematic synthesis in the image space.<\/jats:p>","DOI":"10.1115\/1.4007447","type":"journal-article","created":{"date-parts":[[2012,9,18]],"date-time":"2012-09-18T22:07:20Z","timestamp":1348006040000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":26,"title":["A Novel Approach to Algebraic Fitting of a Pencil of Quadrics for Planar 4R Motion Synthesis"],"prefix":"10.1115","volume":"12","author":[{"given":"Q. 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