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Argu ments for the applicability of candidate normal forms to manipulator kinematics are provided. Singularities and bifurcation diagrams of the normal forms are examined and consequences derived for the inverse kinematic prob lem in redundant kinematics with singularities.<\/jats:p>","DOI":"10.1177\/027836499101000505","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"492-504","source":"Crossref","is-referenced-by-count":30,"title":["Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators"],"prefix":"10.1177","volume":"10","author":[{"given":"Krzysztof","family":"Tcho\u0144","sequence":"first","affiliation":[{"name":"Institute of Engineering Cybernetics Technical University of Wroclaw 50-372 Wroclaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-5154-5"},{"key":"atypb2","volume-title":"Applied Nonlinear Analysis","author":"Aubin, J.P.","year":"1984"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700201"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0031048"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087114"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/9.401"},{"key":"atypb7","volume-title":"25th IEEE Conf. on Decision and Control","author":"De Luca, A."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1080\/00207178508933432"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(86)90073-3"},{"key":"atypb10","author":"Galicki, M.","year":"1991","journal-title":"Mech. 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