C. Innocenti and V. Parenti-castelli, Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators, Journal of Mechanical Design, vol.120, issue.1, 1998.
DOI : 10.1115/1.2826679

P. R. Mcaree, D. , and R. W. , An Explanation of Never-Special Assembly Changing Motions for 3-3 Parallel Manipulators, The International Journal of Robotics Research, vol.18, issue.6, pp.556-574, 1999.
DOI : 10.1177/02783649922066394

M. Zein, P. Wenger, C. , and D. , Singular curves in the joint space and cusp points of 3-RPR parallel manipulators, Robotica, vol.25, issue.6, pp.717-724, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00160809

M. L. Husty, Non-singular assembly mode change in 3-RPR-parallel manipulators, Proceedings of the 5th International Workshop on Computational Kinematics, pp.51-60, 2009.
DOI : 10.1007/978-3-642-01947-0_7

M. Kreuzer, R. , and L. , Computational commutative algebra 1, 2000.
DOI : 10.1007/978-3-540-70628-1

D. Lazard and F. Rouillier, Solving parametric polynomial systems, Journal of Symbolic Computation, vol.42, issue.6, pp.636-667, 2007.
DOI : 10.1016/j.jsc.2007.01.007
URL : https://hal.archives-ouvertes.fr/hal-01148721

G. E. Collins, Quantifier Elimination for Real Closed Fields by Cylindrical Algebraic Decomposition, 1975.

D. Chablat, G. Moroz, and P. Wenger, Uniqueness domains and non singular assembly mode changing trajectories, 2011 IEEE International Conference on Robotics and Automation, pp.3946-3951, 2011.
DOI : 10.1109/ICRA.2011.5979929
URL : https://hal.archives-ouvertes.fr/hal-00583302

K. Hunt, Structural Kinematics of In-Parallel-Actuated Robot-Arms, Journal of Mechanisms Transmissions and Automation in Design, vol.105, issue.4, pp.705-712, 1983.
DOI : 10.1115/1.3258540

C. Gosselin, J. Sefrioui, R. , and M. , Solutions polynomiales auprobì eme de la cinématique directe des manipulateursparalì eles plansàplans`plansà trois degrés de liberté, Mechanism and Machine Theory, pp.107-119, 1992.

G. Pennock and D. Kassner, Kinematic Analysis of a Planar Eight-Bar Linkage: Application to a Platform-Type Robot, ASME Proc. of the 21st Biennial Mechanisms Conf, pp.37-43, 1990.
DOI : 10.1115/1.2916930

X. Kong and C. Gosselin, Forward displacement analysis of third-class analytic 3-RPR planar parallel manipulators, Mechanism and Machine Theory, pp.1009-1018, 2001.
DOI : 10.1016/S0094-114X(01)00038-6

P. Wenger, C. , and D. , Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators, Proceedings of the 5th International Workshop on Computational Kinematics, pp.43-50, 2009.
DOI : 10.1007/978-3-642-01947-0_6
URL : https://hal.archives-ouvertes.fr/hal-00412923

P. Wenger, D. Chablat, and M. Zein, Degeneracy Study of the Forward Kinematics of Planar 3-RP??R Parallel Manipulators, Journal of Mechanical Design, vol.129, issue.12, pp.1265-1268, 2007.
DOI : 10.1115/1.2779893

C. Gosselin, A. , and J. , Singularity analysis of closed-loop kinematic chains, IEEE Transactions on Robotics and Automation, vol.6, issue.3, pp.281-290, 1990.
DOI : 10.1109/70.56660

M. Urízar, V. Petuya, O. Altuzarra, and A. Hernández, On the cuspidality of the analytic 3-RPR, 2011.

A. Hernández, O. Altuzarra, V. Petuya, and E. Macho, Defining Conditions for Nonsingular Transitions Between Assembly Modes, IEEE Transactions on Robotics, vol.25, issue.6, pp.1438-1447, 2009.
DOI : 10.1109/TRO.2009.2030229

G. Moroz, F. Rouillier, D. Chablat, and P. Wenger, On the determination of cusp points of 3-RPR parallel manipulators, Mechanism and Machine Theory, p.45, 2010.
DOI : 10.1016/j.mechmachtheory.2010.06.016

G. Moroz, Sur la décomposition réelle et algébrique des systèmes dépendant de paramètres, 2008.

S. Corvez and F. Rouillier, Using Computer Algebra Tools to Classify Serial Manipulators, Automated Deduction in Geometry, pp.31-43, 2002.
DOI : 10.1007/978-3-540-24616-9_3
URL : https://hal.archives-ouvertes.fr/inria-00100987

F. Rouillier, Solving Zero-Dimensional Systems Through the Rational Univariate Representation, Applicable Algebra in Engineering, Communication and Computing, vol.9, issue.5, pp.433-461, 1999.
DOI : 10.1007/s002000050114
URL : https://hal.archives-ouvertes.fr/inria-00073264

F. Rouillier and P. Zimmermann, Efficient isolation of polynomial's real roots, Journal of Computational and Applied Mathematics, vol.162, issue.1, pp.33-50, 2003.
DOI : 10.1016/j.cam.2003.08.015

A. Dolzmann, A. Seidl, and T. Sturm, Efficient projection orders for CAD, Proceedings of the 2004 international symposium on Symbolic and algebraic computation , ISSAC '04, pp.111-118, 2004.
DOI : 10.1145/1005285.1005303