Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications

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@article{Soylu1988HypersurfacesOS, title={Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications}, author={Resit Soylu and Joseph Duffy}, journal={J. Field Robotics}, year={1988}, volume={5}, pages={31-53} }