Efficient gradient projection optimization for manipulators with multiple degrees of redundancy. - H. Zghal; Rajiv V. Dubey; James A. Euler (ICRA, 1990)

Coordinated-motion control of heavy-duty industrial machines with redundancy. - Navab Singh; H. Zghal; Nariman Sepehri; Suhrid Balakrishnan; Peter D. Lawrence (Robotica, 1995)