Murat Cenk Cavusoglu Isela Villanueva Frank Tendick Workspace analysis of robotic manipulators for a teleoperated suturing task. 2234-2239 2001 IROS https://doi.org/10.1109/IROS.2001.976402 conf/iros/2001 db/conf/iros/iros2001.html#CavusogluVT01