On the regularity of the inverse Jacobian of parallel robots. - Jean-Pierre Merlet; Peter Donelan (ARK, 2006)

Singularity-theoretic methods in robot kinematics. - Peter S. Donelan (Robotica, 2007)

General formulation of the singularity locus for a 3-dof regional manipulator. - Peter Donelan; Andreas Müller 002 (ICRA, 2011)

Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-holonomic Platforms. - Andreas Müller 002; Peter Donelan (ARK, 2016)

Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator. - Seyed Vahid Amirinezhad; Peter Donelan (ARK, 2016)

Hyperbolic Pseudoinverses for Kinematics in the Euclidean Group. - Peter Donelan; Jon M. Selig (SIAM J. Matrix Anal. Appl., 2017)

Transversality and Its Applications to Kinematics. - Seyed Vahid Amirinezhad; Peter Donelan; Andreas Müller 002 (ARK, 2018)

Kinematic Constraint Maps and C-space Singularities for Planar Mechanisms with Prismatic Joints. - Seyed Vahid Amirinezhad; Peter Donelan (ARK, 2018)

Invariants for Multi-twists, Screw Systems and Serial Manipulators. - Peter Donelan (ARK, 2020)