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A. Almarkhi, and A. A. Maciejewski,
"Singularity Analysis for Redundant Manipulators of Arbitrary
Kinematic Structures,"
International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019),
pp. 42-49, Prague, Czech Republic, July 29-31, 2019.
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May 5, 2021.