José L. Pulloquinga, Rafael J. Escarabajal, Marina Vallés, Ángel Valera, Vicente Mata. Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws. In Oscar Altuzarra, Andrés Kecskeméthy, editors, Advances in Robot Kinematics 2022, ARK 2022, Bilbao, Spain, June 26-30, 2022. Volume 24 of Springer Proceedings in Advanced Robotics, pages 445-452, Springer, 2022. [doi]
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