Stefano Chiaverini. Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Transactions on Robotics, 13(3):398-410, 1997. [doi]
@article{Chiaverini97,
title = {Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators},
author = {Stefano Chiaverini},
year = {1997},
doi = {10.1109/70.585902},
url = {http://dx.doi.org/10.1109/70.585902},
researchr = {https://researchr.org/publication/Chiaverini97},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {13},
number = {3},
pages = {398-410},
}