CITATION STYLE
Konietschke, R., Hirzinger, G., & Yan, Y. (2006). All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications. In Advances in Robot Kinematics (pp. 193–200). Springer Netherlands. https://doi.org/10.1007/978-1-4020-4941-5_21
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