Experimental Results on Controlling a 6-DOF Robot Manipulator in the Neighborhood of Kinematic Singularities.

Stefano Chiaverini Bruno Siciliano Olav Egeland Experimental Results on Controlling a 6-DOF Robot Manipulator in the Neighborhood of Kinematic Singularities. 3-13 1993 conf/iser/1993 ISER db/conf/iser/iser1993.html#ChiaveriniSE93