Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama, V. Senft, Gerhard Hirzinger. Two approaches to singularity-consistent motion of nonredundant robotic mechanisms. In Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996. pages 1883-1890, IEEE, 1996. [doi]
Abstract is missing.