In this paper by J. W. Burdick, the main result basically says that
for a redundant manipulator, infinity solutions corresponding to one end-effector pose can be grouped into a finite set of smooth manifolds.
But later in the paper, the author said only revolute jointed manipulators would be considered in the paper.
Does this result (grouping of solutions into a finite set of manifolds) hold for redundant robots with prismatic joint(s) as well? Is there any significant difference in analysis and result when prismatic joints are included? So far I couldn't find anyone explicitly address the case of robots with prismatic joints yet.
(I am not sure if this site or math.stackexchange.com would be the more appropriate place to post this question, though.)