Solving for manipulator joint rates in singular positions - researchr publication authors

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Zuheir S. Tumeh, Cecil O. Alford. Solving for manipulator joint rates in singular positions. In Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988. pages 987-992, IEEE, 1988. [doi]

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