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kinematics; robotics; kinematical chains; Bennet’s mechanism; freedom of motion; robot- manipulators

References:

[1] Karger A.: **Geometry of the motion of robot-manipulators**. Manuscr. Math. 62 (1988), 115–126. DOI 10.1007/BF01258270 | MR 0958256 | Zbl 0653.53007

[2] Karger A.: **Classification of singular robot-manipulators**. Submitted to Mech. Mach. Theory.

[3] Karger A.: **Robot-manipulators as submanifolds**. Submitted to Mathematica Pannonica. Zbl 0793.53011