Robert Muszynski, Krzysztof Tchon. Normal forms of non-redundant singular robot kinematics: Three DOF worked examples. J. Field Robotics, 13(12):765-791, 1996. [doi]
@article{MuszynskiT96,
title = {Normal forms of non-redundant singular robot kinematics: Three DOF worked examples},
author = {Robert Muszynski and Krzysztof Tchon},
year = {1996},
doi = {10.1002/(SICI)1097-4563(199612)13:12<765::AID-ROB1>3.0.CO;2-T},
url = {http://dx.doi.org/10.1002/(SICI)1097-4563(199612)13:12<765::AID-ROB1>3.0.CO;2-T},
researchr = {https://researchr.org/publication/MuszynskiT96},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {13},
number = {12},
pages = {765-791},
}