Juan Manuel Ahuactzin, Kamal K. Gupta. A motion planning based approach for inverse kinematics of redundant robots: the kinematic roadmap. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 3609-3614, IEEE, 1997. [doi]
Abstract is missing.