Krzysztof Tchon, Joanna Ratajczak, Janusz Jakubiak. Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. In Jadran Lenarcic, Vincenzo Parenti-Castelli, editors, Advances in Robot Kinematics 2018, ARK 2018, Bologna, Italy, 1-5 July 2018. Volume 8 of Springer Proceedings in Advanced Robotics, pages 250-257, Springer, 2018. [doi]
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