Nabil Simaan, Moshe Shoham. Singularity analysis of a class of composite serial in-parallel robots. IEEE Transactions on Robotics, 17(3):301-311, 2001. [doi]
@article{SimaanS01,
title = {Singularity analysis of a class of composite serial in-parallel robots},
author = {Nabil Simaan and Moshe Shoham},
year = {2001},
doi = {10.1109/70.938387},
url = {http://dx.doi.org/10.1109/70.938387},
tags = {analysis},
researchr = {https://researchr.org/publication/SimaanS01},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {17},
number = {3},
pages = {301-311},
}