The following publications are possibly variants of this publication:
- Quadratic normal forms of redundant robot kinematics with application to singularity avoidanceKrzysztof Tchon. trob, 14(5):834-837, 1998. [doi]
- A normal form of singular kinematics of robot manipulators with smallest degeneracyKrzysztof Tchon. trob, 11(3):401-404, 1995. [doi]
- Singular inverse kinematic problem for robotic manipulators: a normal form approachKrzysztof Tchon, Robert Muszynski. trob, 14(1):93-104, 1998. [doi]
- Singularities of holonomic and non-holonomic robotic systems: A normal form approachKrzysztof Tchon, Joanna Ratajczak. jfi, 358(15):7698-7713, 2021. [doi]
- A Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic CaseKrzysztof Tchon, Robert Muszynski. icra 1998: 3222-3227
- On avoiding singularities in redundant robot kinematicsKrzysztof Tchon, Aleksander Matuszok. robotica, 13(6):599-606, 1995. [doi]
- Normal forms and singularities of non-holonomic robotic systems: A study of free-floating space robotsJoanna Ratajczak, Krzysztof Tchon. scl, 138:104661, 2020. [doi]