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Investigation of the Deficiencies of Parallel Manipulators in Singular Configurations Through the Jacobian Nullspace

Vincent K. Chan, Imme Ebert-Uphoff. Investigation of the Deficiencies of Parallel Manipulators in Singular Configurations Through the Jacobian Nullspace. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, May 21-26, 2001, Seoul, Korea. pages 1313-1320, IEEE, 2001.

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