Bertold Bongardt, Andreas Müller,
"On Orientation, Position, and Attitude Singularities of General 3R Chains"
: 2nd IMA Conference on Mathematics of Robotics, Institute of Mathematics & its Applications, Southend-on-Sea, Essex, SS1 1EF, Seite(n) 47-56, 2022
Original Titel:
On Orientation, Position, and Attitude Singularities of General 3R Chains