Yan-Ru Hu, Andrew A. Goldenberg. Dynamic control of coordinated redundant robots with torque optimization. Automatica, 29(6):1411-1424, 1993. [doi]
@article{HuG93,
title = {Dynamic control of coordinated redundant robots with torque optimization},
author = {Yan-Ru Hu and Andrew A. Goldenberg},
year = {1993},
doi = {10.1016/0005-1098(93)90006-F},
url = {http://dx.doi.org/10.1016/0005-1098(93)90006-F},
researchr = {https://researchr.org/publication/HuG93},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {29},
number = {6},
pages = {1411-1424},
}