Patricia Ben-Horin, Moshe Shoham. Singularity condition of six-degree-of-freedom three-legged parallel robots based on grassmann-cayley algebra. IEEE Transactions on Robotics, 22(4):577-590, 2006. [doi]
@article{Ben-HorinS06,
title = {Singularity condition of six-degree-of-freedom three-legged parallel robots based on grassmann-cayley algebra},
author = {Patricia Ben-Horin and Moshe Shoham},
year = {2006},
doi = {10.1109/TRO.2006.878958},
url = {http://dx.doi.org/10.1109/TRO.2006.878958},
researchr = {https://researchr.org/publication/Ben-HorinS06},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {22},
number = {4},
pages = {577-590},
}