The constructive definition of the kinematic tangent cone contains all information necessary to separate different motion branches at non-transversal bifurcations, enabling an amended computational identification method.
Higher-order analysis of kinematic singu lari- ties of lower pair linkages and serial manipulators,
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Identification of Non-Transversal Bifurcations of Linkages
The constructive definition of the kinematic tangent cone contains all information necessary to separate different motion branches at non-transversal bifurcations, enabling an amended computational identification method.