Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure

@article{Sokolov2006SingularityAO,
  title={Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure},
  author={Alexei Sokolov and Paul C. Xirouchakis},
  journal={Robotica},
  year={2006},
  volume={24},
  pages={131-142}
}

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