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    ICRA
    1998
    IEEE
    81views Robotics» more  ICRA 1998»
    Removing the Singularities of Serial Manipulators by Transforming the Workspace
    14 years 3 months ago
    Removing the Singularities of Serial Manipulators by Transforming the Workspace
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    A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
    John E. Lloyd
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