R. V. Mayorga, A. K. C. Wong. A singularities avoidance method for the trajectory planning of redundant and nonredundant robot manipulators. In Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31 - April 3, 1987. pages 1707-1712, IEEE, 1987. [doi]
Abstract is missing.