@incollection{Thanh12,
author = {Nguyen Minh Thanh and Le Hoai Quoc and Victor Glazunov},
title = {Singularity Analysis, Constraint Wrenches and Optimal Design of Parallel Manipulators},
booktitle = {Serial and Parallel Robot Manipulators},
publisher = {IntechOpen},
address = {Rijeka},
year = {2012},
editor = {Serdar Kucuk},
chapter = {18},
doi = {10.5772/31821},
url = {https://doi.org/10.5772/31821}
}