Fast and robust numerical method for inverse kinematics with prioritized multiple targets for redundant robots. - Masanori Sekiguchi; Naoyuki Takesue (Adv. Robotics, 2020)

Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits. - Masanori Sekiguchi; Naoyuki Takesue (Adv. Robotics, 2021)