TY - JOUR A1 - Benoit, R. A1 - Delanoue, N. A1 - Lagrange, S. A1 - Wenger, P. T1 - Guaranteed detection of the singularities of 3R robotic manipulators JO - Mech. Sci. J1 - MS VL - 7 IS - 1 SP - 31 EP - 38 Y1 - 2016/01/21 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/7/31/2016/ L1 - https://ms.copernicus.org/articles/7/31/2016/ms-7-31-2016.pdf DO - 10.5194/ms-7-31-2016 ER -