A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

Maher Baili Philippe Wenger Damien Chablat A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace http://arxiv.org/abs/0707.2842 2007 CoRR abs/0707.2842 db/journals/corr/corr0707.html#abs-0707-2842 informal publication