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Dimiter Zlatanov, Ilian A. Bonev, Clément Gosselin. Constraint Singularities of Parallel Mechanisms. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA 2002, May 11-15, 2002, Washington, DC, USA. pages 496-502, IEEE, 2002.

The following publications are possibly variants of this publication:

Singularity Loci of Spherical Parallel MechanismsIlian A. Bonev, Clément Gosselin. icra 2005: 2957-2962

Singularity analysis of zero-torsion parallel mechanismsSébastien Briot, Ilian A. Bonev. iros 2008: 1952-1957 [doi]

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