Global versus Local Optimization in Redundancy Resolution of Robotic Manipulators. - Kazem Kazerounian; Zhaoyu Wang 004 (Int. J. Robotics Res., 1988)

Analytical determination of the null space of anthropomorphic manipulators. - Zhaoyu Wang 004; Kazem Kazerounian (IEEE Trans. Syst. Man Cybern., 1992)

Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulations. - Zhaoyu Wang 004; Kazem Kazerounian (J. Field Robotics, 1995)