@misc{Tchoń_Krzysztof_Normal, author={Tchoń, Krzysztof}, howpublished={online}, publisher={Zielona Góra: Uniwersytet Zielonogórski}, language={eng}, abstract={Using the singularity theory approach we study kinematic singularities of 3R robot manipulators satisfying certain geometric conditions. A classification of singular configurations is set forth and three mathematical models (normal forms) of the kinematics around singular configurations are derived.}, type={artykuł}, title={Normal forms of kinematic singularities of 3R robot manipulators}, keywords={sterowanie, sterowanie-teoria, sztuczna inteligencja, matematyka stosowana, informatyka}, }