# Singularity analysis and treatment for a 7R 6-DOF painting robot with non-spherical wrist

> Research article (Mechanism and Machine Theory, 2018) · cited 34× · AI/ML

**Wikidata**: [openalex:W2800839174](https://www.wikidata.org/wiki/openalex:W2800839174)  
**Source**: https://4ort.xyz/entity/singularity-analysis-and-treatment-for-a-7r-6-dof-painting-robot-with-non-spherical-wrist