Rigid body collisions of a special class of planar kinematic chains. - Yildirim Hurmuzlu; Tai-Heng Chang (IEEE Trans. Syst. Man Cybern., 1992)

Operating robot manipulators through kinematic singularities using a continuously sliding mode control. - Tai-Heng Chang; Yildirim Hurmuzlu (J. Field Robotics, 1994)