TY  - JOUR
AU  - Dirk Siersma
TI  - Extremal configurations of robot arms in three dimensions
JO  - Journal of Singularities
PY  - 2015
SP  - 180
EP  - 190
VL  - 12
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/articles/10.5427/jsing.2015.12m/
DO  - 10.5427/jsing.2015.12m
ID  - 10_5427_jsing_2015_12m
ER  -