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    94 références pour: 1995

    Bibliography

    1
    Agrawal S.K., Desmier G., and Li S.
    Fabrication and analysis of a novel 3 dof parallel wrist mechanism.
    ASME J. of Mechanical Design, 117(2):343-345, Juin 1995
    Keywords: mechanical architecture,kinematics,3 dof robot,wrist.

    2
    Badano F. and others .
    Random exploration strategy: a new paradigm in robotics. A comparison with determinist approaches.
    Control Eng. Practice, 3(9):1301-1306, 1995.
    Keywords: control,assembly.

    3
    Baker J.E.
    On the 6-hinge loops in Bricard's line-symmetric and plane-symmetric octahedra.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1494-1498, Milan, 30 Août-2 Septembre, 1995
    Keywords: singularity,singular robot.

    4
    Baron L. and Angeles J.
    The isotropic decoupling of the direct kinematic of parallel manipulators under sensor redundancy.
    In IEEE Int. Conf. on Robotics and Automation, pages 1541-1546, Nagoya, 25-27 Mai 1995
    Keywords: forward kinematics with redundant sensors.

    5
    Bégon P.
    Commande des robots parallèles rapides. Application au robot HEXA.
    Ph.D. Thesis, Université Montpellier II, Montpellier, 23 Juin 1995
    Keywords: kinematics,control.

    6
    Bégon P., Pierrot F., and Dauchez P.
    Insertions rapides avec un robot parallèle à six degrés de liberté.
    Revue d'Automatique et de Productique Appliquée, 8(4):513-528, 1995.
    Keywords: control,applications,hardware.

    7
    Bernelli-Zazzera F. and Gallieni D.
    Analysis and design of an hexapod mechanism for autonomous payload pointing.
    In 46th IAF Congress, Oslo, 2-6 Octobre 1995
    Keywords: applications,hardware,design.

    8
    Bernier D., Castelain J-M., and Li X.
    A new parallel structure with six degree of freedom.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 8-12, Milan, 30 Août-2 Septembre, 1995
    Keywords: mechanical architecture,kinematics,dynamics,hardware,6 dof robot.

    9
    Bessala J., Bidaud P., and Ben Ouezdou F.
    Analysis of complex mechanical systems through geometrical reachable workspace.
    In IASTED Int. Conf. on Robotics and Manufacturing, Cancun, 14-17 Juin 1995
    Keywords: workspace,optimal design.

    10
    Bessala J., Bidaud P., and Ben Ouezdou F.
    Analysis of complex mechanical systems, design, motion, planning, optimal transmissions.
    In IMACS Symp. on System Analysis and Simulation, 1995.
    Keywords: workspace,statics,optimal design.

    11
    Bessala J.
    Détermination des expressions analytiques d'espaces de travail des systèmes mécaniques, et applications.
    Ph.D. Thesis, Université Paris 6, 11 Septembre 1995
    Keywords: workspace,optimal design.

    12
    Bhattacharya S., Hatwal H., and Ghosh A.
    On the optimum design of a Stewart platform type parallel manipulators.
    Robotica, 13(2):133-140, Mars- Avril, 1995
    Keywords: mechanical architecture,optimal design,isotropy,stiffness.

    13
    Bryfogle M.D.
    Material handling devices and controllers, 19 Septembre 1995
    United States Patent ${\rm n^\circ}$ 5,451,136.
    Keywords: applications,patent.

    14
    Byun Y.K., Kim D.Y., and Cho H-S.
    Analysis of a 6-dof pose/wrench sensor integrated Stewart platform-based robotic wrist.
    In 4th Int. Symp. on Measurement and Control in Robotics, pages 283-288, Smolenice Castle,Slovaquie, 12-16 Juin 1995
    Keywords: forward kinematics with redundant sensors,force sensor.

    15
    Charles P.A.S.
    Octahedral machine tool frame, 28 Février 1995
    United States Patent ${\rm n^\circ}$ 5,392,663 Ingersoll Milling Machine Company.
    Keywords: applications,machine-tool,patent.

    16
    Chirikjian G.S.
    Hyper-redundant manipulator dynamics: a continuum approximation.
    Advanced Robotics, 9(3):217-243, 1995.
    Keywords: redundant robot,truss,dynamics,kinematics.

    17
    Collins C.L. and Long G.L.
    On the duality of twist/wrench in serial and parallel chain robot manipulators.
    In IEEE Int. Conf. on Robotics and Automation, pages 526-531, Nagoya, 25-27 Mai 1995
    Keywords: duality.

    18
    Collins C.L. and Long G.L.
    The singularity analysis of an in-parallel hand controller for force-reflected teleoperation.
    IEEE Trans. on Robotics and Automation, 11(5):661-669, Octobre 1995
    Keywords: mechanical architecture,singularity,applications.

    19
    Comin F.
    Six degree-of-freedom scanning supports and manipulators based on parallel robots.
    Review of Scientific Instruments, 66(2):1665-1667, Février 1995
    Keywords: applications,hardware.

    20
    Danescu G.
    Une méthode algébrique de synthèse et conception de mécanismes articulés.
    Ph.D. Thesis, Université de Franche-Comté, Besançon, 22 Juin 1995
    Keywords: design theory,structural synthesis.

    21
    Daniali H.R.M., Zsombor-Murray P.J., and Angeles J.
    Singularity analysis of a general class of planar parallel manipulators.
    In IEEE Int. Conf. on Robotics and Automation, pages 1547-1552, Nagoya, 25-27 Mai 1995
    Keywords: singularity.

    22
    Fajardo P. and Rey-Bakaikoa V.
    Control of six degree-of-freedom manipulators for synchrotron radiation applications.
    Review of Scientific Instruments, 66(2):1758-1761, Février 1995
    Keywords: applications,hardware.

    23
    Faugère J.C. and Lazard D.
    The combinatorial classes of parallel manipulators.
    Mechanism and Machine Theory, 30(6):765-776, Août 1995
    Keywords: forward kinematics.

    24
    Fenyi S.E.
    Stewart platform based 6-axis force and torque transducers.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 221-230. Kluwer, 1995.
    Keywords: applications,force sensor.

    25
    Ferraresi C., Montacchini G., and Sorli M.
    Workspace and dexterity evaluation of 6 d.o.f. spatial mechanisms.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 57-61, Milan, 30 Août-2 Septembre, 1995
    Keywords: workspace.

    26
    Ferraresi C., Pastorelli S., Sorli M., and Zhmud N.
    Static and dynamic behavior of a high stiffness Stewart platform-based force/torque sensor.
    J. of Robotic Systems, 12(10):883-893, 1995.
    Keywords: hardware,applications,force sensor.

    27
    Funabashi H. and Takeda Y.
    Determination of singular points and their vicinity in parallel manipulators based on the transmission index.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1977-1981, Milan, 30 Août-2 Septembre, 1995
    Keywords: singularity.

    28
    Gosselin C. and Gagné M.
    A closed-form solution for the direct kinematics of a special class of spherical three-degree-of-freedom parallel manipulators.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 231-240. Kluwer, 1995.
    Keywords: spherical robot,forward kinematics,3 dof robot,wrist.

    29
    Gosselin C. and Wang J.
    Singularity loci of planar parallel manipulator.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1982-1986, Milan, 30 Août-2 Septembre, 1995
    Keywords: singularity.

    30
    Gosselin C., Perreault L., and Vaillancourt C.
    Simulation and computer-aided kinematic design of three-degree-of-freedom spherical parallel manipulators.
    J. of Robotic Systems, 12(12):857-869, 1995.
    Keywords: kinematics,3 dof robot,spherical robot,workspace,design.

    31
    Goudali A., Lallemand J-P., and Zeghloul S.
    Espace de travail de la nouvelle structure 2-Delta.
    Revue d'Automatique et de Productique Appliquée, 8(2-3):205-210, 1995.
    Keywords: workspace.

    32
    Grant D. and Hayward V.
    Design of shape memory alloy actuator with high strain and variable structure control.
    In IEEE Int. Conf. on Robotics and Automation, pages 2305-2312, Nagoya, 25-27 Mai 1995
    Keywords: truss,redundant robot,control,hardware,actuators.

    33
    Han K., W. Chung, and Youm Y.
    Local structurization for the forward kinematics of parallel manipulators using extra sensor data.
    In IEEE Int. Conf. on Robotics and Automation, pages 514-520, Nagoya, 25-27 Mai 1995
    Keywords: forward kinematics with redundant sensors.

    34
    Harris D.M.J.
    A hydraulic parallel-linkage robot.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1695-1699, Milan, 30 Août-2 Septembre, 1995
    Keywords: hardware,actuators,hydraulics.

    35
    Harris D.M.J.
    Parallel-linkage robot coordinate transformation through screw theory.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1565-1568, Milan, 30 Août-2 Septembre, 1995
    Keywords: trajectory planning.

    36
    Hatip O.E. and Ozgoren M.K.
    Utilization of a Stewart platform mechanism as a stabilizator.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1393-1396, Milan, 30 Août-2 Septembre, 1995
    Keywords: applications,dynamics.

    37
    Haugh E.J., Adkins F.A., and Luh C.M.
    Domain of operation and interference for bodies in mechanisms and manipulators.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 193-202. Kluwer, 1995.
    Keywords: workspace.

    38
    Hayward V.
    Toward a seven axis haptic device.
    In IROS, pages 133-139, Pittsburgh, Août 1995
    Keywords: hybrid robot,haptic device,mechanical architecture.

    39
    Hervé J.M.
    Group mathematics and parallel link mechanisms.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 2079-2082, Milan, 30 Août-2 Septembre, 1995
    Keywords: mechanical architecture,design theory.

    40
    Hesselbach J. and Kerle H.
    Structurally adapted kinematic algorithms for parallel robots up to six degrees of freedom (dof).
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1935-1939, Milan, 30 Août-2 Septembre, 1995
    Keywords: kinematics.

    41
    Hui R. and others .
    Mechanisms for haptic feedback.
    In IEEE Int. Conf. on Robotics and Automation, pages 2138-2143, Nagoya, 25-27 Mai 1995
    Keywords: mechanical architecture,haptic device,3 dof robot.

    42
    Husty M.L.
    Kinematics mapping of planar three-legged platforms.
    In 15th Canadian Conf. on Applied Mechanics, pages 876-877, Victoria, 28 Mai-1 Juin, 1995
    Keywords: forward kinematics,planar robot.

    43
    Innocenti C.
    Direct kinematics in analytical form of the 6-4 fully parallel mechanism.
    ASME J. of Mechanical Design, 117(1):89-95, Mars 1995
    Keywords: forward kinematics.

    44
    Innocenti C.
    Algorithms for kinematic calibration of fully-parallel manipulators.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 241-250. Kluwer, 1995.
    Keywords: calibration.

    45
    Innocenti C.
    Analytical-form direct kinematics for the second scheme of a 5-5 general-geometry fully parallel manipulator.
    J. of Robotic Systems, 12(10):661-676, 1995.
    Keywords: forward kinematics.

    46
    Kawamura S. and others .
    Development of an ultrahigh speed robot FALCON using wire drive system.
    In IEEE Int. Conf. on Robotics and Automation, pages 215-220, Nagoya, 25-27 Mai 1995
    Keywords: wire robot,control,hardware,stiffness.

    47
    Larochelle P.M.
    Design of 3-dof spherical robotic mechanisms.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1826-1830, Milan, 30 Août-2 Septembre, 1995
    Keywords: spherical robot,design,3 dof robot,wrist.

    48
    Lee M.K.
    Design of a high stiffness machining robot arm using double parallel mechanism.
    In IEEE Int. Conf. on Robotics and Automation, pages 234-240, Nagoya, 25-27 Mai 1995
    Keywords: mechanical architecture,6 dof robot,decoupled robot.

    49
    Lindem T.J. and Charles P.A.S.
    Octahedral machine with a hexapodal triangular servostrut section, 28 Mars 1995
    United States Patent ${\rm n^\circ}$ 5,401,128, Ingersoll Milling Machine Company.
    Keywords: applications,machine-tool,patent.

    50
    Liu A-X. and Yang T-L.
    Configuration analysis of a class of parallel structures using improved continuation.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 155-158, Milan, 30 Août-2 Septembre, 1995
    Keywords: forward kinematics.

    51
    Lösch S.
    Inverse force analysis of the general planar parallel manipulator.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1831-1835, Milan, 30 Août-2 Septembre, 1995
    Keywords: statics,forward kinematics.

    52
    Lösch S.
    Parallel redundant manipulator based on open and closed normal Assur chains.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 251-260. Kluwer, 1995.
    Keywords: redundant robot.

    53
    Lumsden C.J.
    CELLSIM: Virtual cells for research and molecular therapy design.
    J. of Medecine and Virtual Reality, 1(1):6-10, 1995.
    Keywords: applications,medical.

    54
    Martinez J.M.R. and Duffy J.
    A simple method for the velocity and acceleration analysis of in-parallel platforms.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 842-846, Milan, 30 Août-2 Septembre, 1995
    Keywords: kinetics,jacobian.

    55
    Masory O. and Wang J.
    Workspace evaluation of Stewart platforms.
    Advanced Robotics, 9(4):443-461, 1995.
    Keywords: workspace.

    56
    Masory O. and Jihua Y.
    Measurement of pose repetability of Stewart platforms.
    J. of Robotic Systems, 12(12):821-832, 1995.
    Keywords: accuracy.

    57
    Mathey C.
    Les simulateurs d'entrainement.
    Revue technique Thomson-CSF, 25(2):683-705, Juin 1995
    Keywords: applications.

    58
    Merlet J-P.
    Designing a parallel robot for a specific workspace.
    Research Report 2527, INRIA, Avril 1995

    http://www.inria.fr/rrrt/index.fr.html, Keywords: workspace,design.

    59
    Merlet J-P.
    Determination of the orientation workspace of parallel manipulators.
    J. of Intelligent and Robotic Systems, 13(1):143-160, 4-6 Septembre 1995

    http://www-sop.inria.fr/coprin/PDF/merlet_jirs95.pdf, Keywords: orientation workspace,workspace.

    60
    Merlet J-P.
    Designing a parallel robot for a specific workspace.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 203-212. Kluwer, 1995.

    http://www-sop.inria.fr/coprin/PDF/merlet_ck95.pdf, Keywords: workspace,design.

    61
    Miller K.
    Experimental verification of modeling of Delta robot dynamics by direct application of Hamilton's principle.
    In IEEE Int. Conf. on Robotics and Automation, pages 532-537, Nagoya, 25-27 Mai 1995
    Keywords: dynamics.

    62
    Miller K.
    Model-based control of DELTA direct drive parallel robot; trajectory tracking experiments.
    In 26th Int. Symp. on Industrial Robots (ISIR), pages 491-496, Singapour, 4-6 Octobre 1995
    Keywords: dynamics.

    63
    Miller K.
    On accuracy and computational efficiency of DELTA direct drive robot dynamics model.
    In Int. Symp. on Microsystems, Intelligent materials and Robots, pages 568-571, Sendai, 27-29 Septembre 1995
    Keywords: dynamics.

    64
    Miller K.
    Modeling of dynamics and model-based control of DELTA direct-drive parallel robot.
    J. of Robotics and Mechatronics, 17(4):344-352, 1995.
    Keywords: dynamics.

    65
    Mimura N. and Y. Funahashi.
    A new analytical system applying 6 dof parallel link manipulator for evaluating motion sensation.
    In IEEE Int. Conf. on Robotics and Automation, pages 227-233, Nagoya, 25-27 Mai 1995
    Keywords: forward kinematics with redundant sensors,mechanical architecture,hardware,orientation workspace,simulator,medical.

    66
    Muglitz J. and Kunad G.
    Multilink, trunklike spatial mechanisms.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 13-17, Milan, 30 Août-2 Septembre, 1995
    Keywords: truss.

    67
    Oliviers M.P. and Mayer J.R.R.
    Global kinematic calibration of a Stewart platform.
    ASME DSC, 57(1):129-136, 1995.
    Keywords: calibration.

    68
    Parenti-Castelli V. and Di Gregorio R.
    A three-equation numerical method for the direct kinematics of the generalized Gough-Stewart platform.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 837-841, Milan, 30 Août-2 Septembre, 1995
    Keywords: forward kinematics.

    69
    Perju D. and Dolga L.
    An optimizing study of a 6 components force transducer.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 2925-2929, Milan, 30 Août-2 Septembre, 1995
    Keywords: applications,force sensor.

    70
    Raghavan M. and Roth B.
    Solving polynomial systems for the the kinematic analysis of mechanisms and robot manipulators.
    ASME J. of Mechanical Design, 117(2):71-79, Juin 1995

    71
    Rao A.C.
    Topological characteristics of linkage mechanisms with particular reference to platform type robots.
    Mechanism and Machine Theory, 30(1):33-42, Janvier 1995
    Keywords: design theory,planar robot,stiffness.

    72
    Ropponen T. and Arai T.
    Accuracy analysis of a modified Stewart platform manipulator.
    In IEEE Int. Conf. on Robotics and Automation, pages 521-525, Nagoya, 25-27 Mai 1995
    Keywords: accuracy,design.

    73
    Rouillier F.
    Real roots counting for some robotics problems.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 73-82. Kluwer, 1995.

    74
    Sarkissyan Y.L. and Parikyan T.F.
    Direct position problem for Stewart platform and multiple points of 5(SS) linkage coupler curve.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1614-1618, Milan, 30 Août-2 Septembre, 1995
    Keywords: forward kinematics.

    75
    Sefrioui J. and Gosselin C.M.
    On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators.
    Mechanism and Machine Theory, 30(4):533-551, Mai 1995
    Keywords: singularity,planar robot.

    76
    Sheldon P.C.
    Six axis machine tool, 14 Février 1995
    United States Patent ${\rm n^\circ}$ 5,388,935 Giddings & Lewis.
    Keywords: mechanical architecture,applications,machine-tool,patent.

    77
    Silver R.M., Potzick J., and Hu Y-C.
    Metrology with the ultraviolet scanning transmission microscope.
    In Proc. of the SPIE, Integrated circuit metrology, inspection and process control, pages 437-445, Santa Clara, 20-22 Février 1995
    Keywords: applications,vibration.

    78
    Soni A.H., Tanasi G.C., and Varanasi S.
    Closed-loop multi-degree freedom mechanisms for surface generation and patching in machining 3d surfaces.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 2668-2674, Milan, 30 Août-2 Septembre, 1995
    Keywords: trajectory planning.

    79
    Sorli M. and others .
    Mechanics of Turin parallel robot.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1880-1885, Milan, 30 Août-2 Septembre, 1995
    Keywords: kinematics,kinetics,dynamics.

    80
    Sorli M. and Pastorelli S.
    Six-axis reticulated structure force/torque sensor with adaptable performances.
    Mechatronics, 5(6):585-601, Septembre 1995
    Keywords: statics,force sensor,design.

    81
    Spanos J., Rahman Z., and Blackwood G.
    A soft 6-axis active vibration isolator.
    In American Control Conf., pages 412-416, Seattle, 21-23 Juin 1995
    Keywords: vibration,applications,control.

    82
    Tancredi L., Teillaud M., and Merlet J-P.
    Extra sensors data for solving the forward kinematics problem of parallel manipulators.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 2122-2126, Milan, 30 Août-2 Septembre, 1995
    Keywords: forward kinematics,forward kinematics with redundant sensors.

    83
    Tancredi L., Teillaud M., and Merlet J-P.
    Forward kinematics of a parallel manipulator with additional rotary sensors measuring the position of platform joints.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 261-270. Kluwer, 4-6 Septembre 1995
    Keywords: forward kinematics,forward kinematics with redundant sensors.

    84
    Tancredi L.
    De la simplification et la résolution du modèle géométrique direct des robots parallèles.
    Ph.D. Thesis, École des Mines de Paris, Sophia, 20 Décembre 1995
    Keywords: kinematics,forward kinematics with redundant sensors.

    85
    Teague E.C.
    1/n Feynman machines as a path to ultraminiaturisation?
    In Proc. of the SPIE Conf. Microlitography and Metrology in MicroMachining, pages 82-88, Austin, 23-24 Octobre 1995
    Keywords: micro robot,design theory.

    86
    Vischer P.
    Argos: a novel parallel spherical structure.
    Research Report 95-03, EPFL, Lausanne, Suisse, 25 Mars 1995
    Keywords: mechanical architecture,kinematics.

    87
    Wampler C.W., Hollerbach J.M., and Arai T.
    An implicit loop method for kinematic calibration and its application to closed-chain mechanisms.
    IEEE Trans. on Robotics and Automation, 11(5):710-724, Octobre 1995
    Keywords: calibration.

    88
    Warnaar D.B. and Chew M.
    Kinematic synthesis of deployable-foldable truss structures using graph theory, Part 1: graph generation.
    ASME J. of Mechanical Design, 117(1):112-116, Mars 1995
    Keywords: truss,structural synthesis.

    89
    Warnaar D.B. and Chew M.
    Kinematic synthesis of deployable-foldable truss structures using graph theory, Part 2: generation of deployable truss module using design concepts.
    ASME J. of Mechanical Design, 117(1):117-122, Mars 1995
    Keywords: truss,structural synthesis,design.

    90
    Yufeng L. and Tingli Y.
    Structure types and characteristics of six degree-of-freedom closed-chain manipulators with all actuators on base.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1795-1799, Milan, 30 Août-2 Septembre, 1995
    Keywords: design theory.

    91
    Zanganeh K.E. and Angeles J.
    On the isotropic design of general six-degree-of-freedom parallel manipulators.
    In J-P. Merlet B. Ravani, editor, Computational Kinematics, pages 213-220. Kluwer, 1995.
    Keywords: jacobian,isotropy,design.

    92
    Zhao M. and others .
    Development of a redundant robot manipulator based on three dof parallel platform.
    In IEEE Int. Conf. on Robotics and Automation, pages 221-226, Nagoya, 25-27 Mai 1995
    Keywords: redundant robot,forward kinematics,hardware.

    93
    Zlatanov D., Fenton R.G., and Benhabib B.
    A unifying framework for classification and interpretation of mechanism singularities.
    ASME J. of Mechanical Design, 117(4):566-572, Décembre 1995
    Keywords: singularity.

    94
    Zsombor-Murray P., Husty M., and Hartmann D.
    Singular Stewart-Gough platforms with spherocylindrical and spheroconical hip joint trajectories.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1886-1890, Milan, 30 Août-2 Septembre, 1995
    Keywords: singularity,singular robot.

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