Fan-Tien Cheng, Tsing-Hua Chen, York-Yih Sun. Inverse kinematic solutions for redundant manipulators using compact formulation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1991, Osaka, Japan, November 3-5, 1991. pages 153-158, IEEE, 1991. [doi]
Abstract is missing.