@article{singularityavoidanceininversekinematicsa,
  title = {Singularity Avoidance in Inverse Kinematics: A Unified Treatment of Classical and Learning-based Methods},
  author = {Vishnu Rudrasamudram and Hariharasudan Malaichamee},
  year = {2026},
  eprint = {2604.13405},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.13405},
}