Geodesic
Extremal configurations of robot arms in three dimensions
Journal of Singularities, Tome 12 (2015), pp. 180-190

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We define a volume function for a robot arm in R^3 and give geometric conditions for its critical points. 
@article{10_5427_jsing_2015_12m,
     author = {Dirk Siersma},
     title = {Extremal configurations of robot arms in three dimensions},
     journal = {Journal of Singularities},
     pages = {180--190},
     publisher = {mathdoc},
     volume = {12},
     year = {2015},
     doi = {10.5427/jsing.2015.12m},
     url = {http://geodesic.mathdoc.fr/articles/10.5427/jsing.2015.12m/}
}
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Dirk Siersma. Extremal configurations of robot arms in three dimensions. Journal of Singularities, Tome 12 (2015), pp. 180-190. doi: 10.5427/jsing.2015.12m

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