D. Oetomo, M H Ang Jr., and S Y Lim, "Singularity Handling on Puma in Operational Space Formulation," 7 th International Symposium in Experimental Robotics (ISER’00), Dec 10-13, 2000, Honolulu, Hawaii, USA.(PDF File)

Powerpoint presentation

Mpg video file: Canopy Polishing using Compliant Motion with Base Motion as Disturbance

Mpg video file: Canopy polishing using compliant motion across wrist singularity

Mfg video file: Singularity handling on the PUMA 560 robot