Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations

Ali T. Hasan, N. Ismail, Abdel Magid S. Hamouda, Ishak Aris, M. H. Marhaban, H. M. A. A. Al-Assadi. Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations. Advances in Engineering Software, 41(2):359-367, 2010. [doi]