Dynamic task priority approach to avoid kinematic singularity for autonomous manipulation

Jinhyun Kim, Giacomo Marani, Wan Kyun Chung, Junku Yuh, Sang-Rok Oh. Dynamic task priority approach to avoid kinematic singularity for autonomous manipulation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002. pages 1942-1947, IEEE, 2002. [doi]