Homayoun Seraji. Configuration control of redundant manipulators: theory and implementation. IEEE Transactions on Robotics, 5(4):472-490, 1989. [doi]
@article{Seraji89a,
title = {Configuration control of redundant manipulators: theory and implementation},
author = {Homayoun Seraji},
year = {1989},
doi = {10.1109/70.88062},
url = {http://dx.doi.org/10.1109/70.88062},
researchr = {https://researchr.org/publication/Seraji89a},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {5},
number = {4},
pages = {472-490},
}