Brian H. Rudall. Global optimal control of redundant robot. Robotica, 14(6):595-601, 1996. [doi]
@article{Rudall96c,
title = {Global optimal control of redundant robot},
author = {Brian H. Rudall},
year = {1996},
doi = {10.1017/S0263574700018464},
url = {http://dx.doi.org/10.1017/S0263574700018464},
researchr = {https://researchr.org/publication/Rudall96c},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {14},
number = {6},
pages = {595-601},
}