Discussion: “Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity” (Davidson, J. K., and Pingali, P., 1987, ASME J. Mech. Transm. Autom. Des., 109, Pp. 61–71)

Journal of Mechanical Design, Transactions Of the ASME - United States
doi 10.1115/1.3258787

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