Schappler, M.; Tappe, S.; Ortmaier, T.: Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. In: Uhl, T. (Ed): Advances in Mechanism and Machine Science. IFToMM WC 2019. Cham : Springer, 2019 (Mechanisms and Machine Science ; 73), S. 1701-1710. DOI:
https://doi.org/10.1007/978-3-030-20131-9_168