\input zb-basic
\input zb-ioport
\iteman{io-port 50012319}
\itemau{Yang, Yawei; O'brien, John F.}
\itemti{Finding unmanipulable singularities in parallel mechanisms using Jacobian decomposition}
\itemso{Journal of Intelligent and Robotic Systems 53, No. 1, 3-19 (2008).}
\itemcc{}
\itemut{}
\itemli{doi:10.1007/s10846-008-9215-8}
\end