Oscar Altuzarra, Charles Pinto, Rafael Avilés, Alfonso Hernández. A practical procedure to analyze singular configurations in closed kinematic chains. IEEE Transactions on Robotics, 20(6):929-940, 2004. [doi]
@article{AltuzarraPAH04,
title = {A practical procedure to analyze singular configurations in closed kinematic chains},
author = {Oscar Altuzarra and Charles Pinto and Rafael Avilés and Alfonso Hernández},
year = {2004},
doi = {10.1109/TRO.2004.832798},
url = {http://dx.doi.org/10.1109/TRO.2004.832798},
researchr = {https://researchr.org/publication/AltuzarraPAH04},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {20},
number = {6},
pages = {929-940},
}