Krzysztof Tchon, Janusz Jakubiak. Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators. In Jadran Lenarcic, Bernard Roth, editors, Advances in Robot Kinematics, Mechanisms and Motion, ARK 2006, Ljubljana, Slovenia, June 2006. pages 465-472, Springer, 2006. [doi]
Abstract is missing.