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![Cover for Oriol Bohigas · Singularities of Robot Mechanisms: Numerical Computation and Avoidance Path Planning - Mechanisms and Machine Science (Hardcover Book) [1st ed. 2017 edition] (2016)](https://imusic.b-cdn.net/images/item/original/208/9783319329208.jpg?oriol-bohigas-2016-singularities-of-robot-mechanisms-numerical-computation-and-avoidance-path-planning-mechanisms-and-machine-science-hardcover-book&class=scaled&v=1584038126)