The improved compact QP method for resolving manipulator redundancy. - Fan-Tien Cheng; Rong-Jing Sheu; Tsing-Hua Chen; Fan-Chu Kung (IROS, 1994)

The improved compact QP method for resolving manipulator redundancy. - Fan-Tien Cheng; Rong-Jing Sheu; Tsing-Hua Chen (IEEE Trans. Syst. Man Cybern., 1995)