Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure. - Ahmad A. Almarkhi; Anthony A. Maciejewski (ICINCO (2), 2019)

Maximizing the Size of Self-Motion Manifolds to Improve Robot Fault Tolerance. - Ahmad A. Almarkhi; Anthony A. Maciejewski (IEEE Robotics Autom. Lett., 2019)

An Algorithm to Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic Structure. - Ahmad A. Almarkhi; Anthony A. Maciejewski; Edwin K. P. Chong (IEEE Robotics Autom. Lett., 2020)