Reaching the Singularity May be Humanity's Greatest and Last Accomplishment | Air & Space Magazine| Smithsonian Magazine
What are Singularities in a Six-Axis Robot Arm? | Mecademic Robotics
A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators - Zhi-Hao Kang, Ching-An Cheng, Han-Pang Huang, 2019