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  • A general method for the numerical computation of manipulator singularity sets 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
    Open Access
    The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ...