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Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations

Resit Soylu, Joseph Duffy. Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations. J. Field Robotics, 5(1):13-30, 1988. [doi]

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