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Singularities of Robot Mechanisms

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Cover of 'Singularities of Robot Mechanisms'

Table of Contents

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    Book Overview
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    Chapter 1 Introduction
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    Chapter 2 Singularity Types
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    Chapter 3 Numerical Computation of Singularity Sets
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    Chapter 4 Workspace Determination
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    Chapter 5 Singularity-Free Path Planning
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    Chapter 6 Planning with Further Constraints
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    Chapter 7 Conclusions
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