$
\newcommand\Q{\mathbb{Q}}
\newcommand\R{\mathbb{R}}
\renewcommand\P{\mathbb{P}}
\newcommand{\D}{\mathbb{D}}
\newcommand\C{\mathbb{C}}
\newcommand{\N}{\mathbb{N}}
\newcommand{\H}{\mathbb{H}}
\newcommand\bs{\backslash}
\newcommand{\ux}{\underline x}
\newcommand\re{\mathrm{Re}}
\newcommand\span[1]{\langle #1 \rangle}
\newcommand\seii{\mathrm{SE}(2)}
\newcommand\soii{\mathrm{SO}(2)}
\newcommand\se{\mathrm{SE}(3)}
\newcommand\so{\mathrm{SO}(3)}
\newcommand\sep{\,:\,}
\newcommand\aut{\mathrm{Aut}}
\newcommand{\re}{\mathrm{Re}}
\newcommand{\im}{\mathrm{Im}}
$
Implementing HuPf with 6R/P Manipulators
J. Capco
M. Loquias
S. Manongsong
F. Nemenzo