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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]
Possibly Related PublicationsThe following publications are possibly variants of this publication: Application of Grassmann - Cayley Algebra to Geometrical Interpretation of Parallel Robot SingularitiesPatricia Ben-Horin, Moshe Shoham. ijrr, 28(1):127-141, 2009. [doi]
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