# Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal

> Research article (Mechanism and Machine Theory, 2022) · cited 12× · AI/ML

**Wikidata**: [openalex:W4211174838](https://www.wikidata.org/wiki/openalex:W4211174838)  
**Source**: https://4ort.xyz/entity/necessary-and-sufficient-condition-for-a-generic-3r-serial-manipulator-to-be-cuspidal