Singularity analysis of planar parallel manipulators

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles · IEEE Transactions on Robotics and Automation · 1990 · 1.7K citations

Robot Kinematics, Motion Control, Robot Control +15

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Jean‐Pierre Merlet · The International Journal of Robotics Research · 1989 · 553 citations

Integral Geometry, Mathematical Programming, Robot Kinematics +19

Special configurations of spatial mechanisms and robot arms

Koichi Sugimoto, J. Duffy, K. H. Hunt · Mechanism and Machine Theory · 1982 · 165 citations

Robot Kinematics, Engineering, Field Robotics +6

Special configurations of robot-arms <i>via</i> screw theory

K. H. Hunt · Robotica · 1986 · 100 citations

Robot Kinematics, Robot Control, Robotic Systems +13

The Singularities of Redundant Robot Arms

T. Shamir · The International Journal of Robotics Research · 1990 · 74 citations

Robot Kinematics, Motion Control, Robot Control +15