@article{gosselin_singularity_1990,
	title = {Singularity analysis of closed-loop kinematic chains},
	volume = {6},
	issn = {1042-296X},
	doi = {10.1109/70.56660},
	abstract = {The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems},
	number = {3},
	journal = {IEEE Transactions on Robotics and Automation},
	author = {Gosselin, C. and Angeles, J.},
	month = jun,
	year = {1990},
	keywords = {Councils, Couplings, Helium, Jacobian matrices, Machine intelligence, Mechanical systems, Parallel manipulators, Parallel robots, Robotics and automation, Robots, automation modules, closed loop systems, closed-loop kinematic chains, kinematics, linkages, manipulators, matrix algebra, robotic, singularities},
	pages = {281--290}
}

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