Beno Benhabib, Andrew A. Goldenberg, Robert G. Fenton. A solution to the inverse kinematics of redundant manipulators. J. Field Robotics, 2(4):373-385, 1985. [doi]
@article{BenhabibGF85,
title = {A solution to the inverse kinematics of redundant manipulators},
author = {Beno Benhabib and Andrew A. Goldenberg and Robert G. Fenton},
year = {1985},
doi = {10.1002/rob.4620020404},
url = {http://dx.doi.org/10.1002/rob.4620020404},
researchr = {https://researchr.org/publication/BenhabibGF85},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {2},
number = {4},
pages = {373-385},
}