2017-09-122017-09-122004BERGAMASCHI, Paulo Roberto; SARAMAGO, Sezimária de F. P.; NOGUEIRA, Antônio Carlos. An optimal design of 3R manipulators taking into account regular workspace boundary. ABCM Symposium Series in Mechatronics, São Paulo, v. 1, p. 86-94, 2004.http://repositorio.bc.ufg.br/handle/ri/12431engAcesso AbertoRoboticsManipulator designWorkspaceOptimizationSingularitiesArtigo