Kevin A. O'Neil, Yu-Che Chen, Jiaqing Seng. On the existence and characteristics of solution paths at algorithmic singularities [kinematically redundant arms]. IEEE Transactions on Robotics, 14(2):336-342, 1998. [doi]
@article{ONeilCS98,
title = {On the existence and characteristics of solution paths at algorithmic singularities [kinematically redundant arms]},
author = {Kevin A. O'Neil and Yu-Che Chen and Jiaqing Seng},
year = {1998},
doi = {10.1109/70.681253},
url = {http://dx.doi.org/10.1109/70.681253},
researchr = {https://researchr.org/publication/ONeilCS98},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {14},
number = {2},
pages = {336-342},
}