Kinematic optimization of redundant and hyper-redundant robot trajectories. - Fernando B. M. Duarte; J. A. Tenreiro Machado (ICECS, 1998)

Chaos Dynamics in the Trajectory Control of Redundant Manipulators. - Fernando B. M. Duarte; José António Tenreiro Machado (ICRA, 2000)

Pseudoinverse Trajectory Control of Redundant Manipulators: A Fractional Calculus Perspective. - Fernando B. M. Duarte; José António Tenreiro Machado (ICRA, 2002)