Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour. - Fabio Vigoriti; Fabio Ruggiero; Vincenzo Lippiello; Luigi Villani (HFR, 2017)

Control of redundant robot arms with null-space compliance and singularity-free orientation representation. - Fabio Vigoriti; Fabio Ruggiero; Vincenzo Lippiello; Luigi Villani (Robotics Auton. Syst., 2018)