V. Senft

Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

Masaru Uchiyama, Yuichi Tsumaki, Gerd Hirzinger, 1996, Proceedings of IEEE International Conference on Robotics and Automation.

Redundant motions of non-redundant robots a new approach to singularity treatment

Gerd Hirzinger, V. Senft, G. Hirzinger, 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.