Singularity Analysis of Mechanisms and Robots via a Motion-Space Model of the Instantaneous Kinematics. - D. Zlatanov; Robert G. Fenton; Beno Benhabib (ICRA, 1994)

Singularity Analysis of Mechanisms and Robots via a Velocity-Equation Model of the Instantaneous Kinematics. - D. Zlatanov; Robert G. Fenton; Beno Benhabib (ICRA, 1994)