The design of isotropic manipulator architectures in the presence of redundancies

The design of redundant isotropic manipulators with special link parameters

Robotica

A new class of isotropic generators for developing 6-dof isotropic manipulators

Robotica

Kinematic-sensitivity indices for dimensionally nonhomogeneous Jacobian matrices

IEEE Transactions on Robotics

Well-conditioned configurations of fault-tolerant manipulators

Robotics and Autonomous Systems

The Jacobian condition number as a dexterity index in 6R machining robots

Robotics and Computer-Integrated Manufacturing