On Orientation, Position, and Attitude Singularities of General 3R Chains. Mathematics of Robotics.. In Press.
The Adjoint Trigonometric Representation of Displacements and a Closed-Form Solution to the IKP of General 3C Chains. Journal of Applied Mathematics and Mechanics. 100(6). 2020.
An Analysis of the Dual-Complex Unit Circle with Applications to Line Geometry. Conference on Geometry: Theory and Applications.. 2019.
On Circle Intersections by Means of Distance Geometry. IFTOMM World Congress.. 2019.
Design and kinematic analysis of the novel almost spherical parallel mechanism Active Ankle. Journal of Intelligent and Robotic Systems. 94(2):303-325.. 2019.
The Adjoint Trigonometric Representation of Displacements and a Closed-Form Solution to the IKP of General 3C Chains.. 2018.
Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains. International Symposium on Advances in Robot Kinematics (ARK).. 2018.
A Workspace Scaling Method for Motion Synchronization in SE(3). 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (Romansy).. 2018.