# Closeness to singularities of manipulators based on geometric average normalized volume spanned by weighted screws

> Research article (Robotica, 2016) · cited 13× · AI/ML

**Wikidata**: [openalex:W2410427065](https://www.wikidata.org/wiki/openalex:W2410427065)  
**Source**: https://4ort.xyz/entity/closeness-to-singularities-of-manipulators-based-on-geometric-average-normalized-volume-spanned-by-weighted-screws