Media type: E-Article Title: Trajectory tracking with a 6R serial industrial robot with ordinary and non-ordinary singularities Contributor: Gracia, Luis; Andres, Javier; Tornero, Josep Published: Springer Science and Business Media LLC, 2009 Published in: International Journal of Control, Automation and Systems, 7 (2009) 1, Seite 85-96 Language: English DOI: 10.1007/s12555-009-0111-1 ISSN: 1598-6446 Origination: Footnote: