Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators

Dragomir N. Nenchev, Masaru Uchiyama. Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators. J. Field Robotics, 14(1):27-36, 1997. [doi]

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