A new approach to singularity-free inverse kinematics using dual-quaternionic error chains in the Davies method

André Schneider de Oliveira, Edson Roberto de Pieri, Ubirajara Franco Moreno, Daniel Martins. A new approach to singularity-free inverse kinematics using dual-quaternionic error chains in the Davies method. Robotica, 34(4):942-956, 2016. [doi]

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