Efficient Jacobian inversion for the control of simple robot manipulators

Amir Fijany, Antal K. Bejczy. Efficient Jacobian inversion for the control of simple robot manipulators. In Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988. pages 999-1007, IEEE, 1988. [doi]