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Singularity Avoidance of Task-Redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates

出版	Gottfried Wilhelm Leibniz Universität Hannover, 2021
URL	http://books.google.com.hk/books?id=fhV2zwEACAAJ&hl=&source=gbs_api