Singularity analysis of the H4 robot using Grassmann-Cayley algebra. - Semaan Amine; Stéphane Caro; Philippe Wenger; Daniel Kanaan (Robotica, 2012)

A New method for limb singularity Analysis of Parallel manipulators. - Semaan Amine; Ossama Mokhiamar; Stéphane Caro (Int. J. Robotics Autom., 2019)