Mazen Zein, Philippe Wenger, Damien Chablat. Singular curves in the joint space and cusp points of 3-RPR parallel manipulators. Robotica, 25(6):717-724, 2007. [doi]
@article{ZeinWC07,
title = {Singular curves in the joint space and cusp points of 3-RPR parallel manipulators},
author = {Mazen Zein and Philippe Wenger and Damien Chablat},
year = {2007},
doi = {10.1017/S0263574707003785},
url = {http://dx.doi.org/10.1017/S0263574707003785},
researchr = {https://researchr.org/publication/ZeinWC07},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {25},
number = {6},
pages = {717-724},
}