Redundant Motions of Non Redundant Robots - A New Approach to Singularity Treatment. - V. Senft; Gerd Hirzinger (ICRA, 1995)

Two approaches to singularity-consistent motion of nonredundant robotic mechanisms. - Dragomir N. Nenchev; Yuichi Tsumaki; Masaru Uchiyama; V. Senft; Gerhard Hirzinger (ICRA, 1996)