Sunil Gupta, J. Y. S. Luh. Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation. In Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991. pages 472-477, IEEE, 1991. [doi]
Abstract is missing.