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Optimal redundancy resolution with task scaling under hard bounds in the robot joint space

Fabrizio Flacco, Alessandro De Luca 0001. Optimal redundancy resolution with task scaling under hard bounds in the robot joint space. In 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. pages 3969-3975, IEEE, 2013. [doi]

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