1. Baillreul, J, Hollerbach, J M and Brockett, R W., 1984, “Programming and Control of Rmematically Redundant Manipulators,”23rd IEEE Conf. Decision and Control (Las Vegas, Nevada), Dec, pp 768–774
2. Baillreul, J, 1985, “Kinematic Programming Alternatives lor Redundant Manipulators,”Proc IEEE Int. Conf Robotics and Automation (St. Louis, MO), Mar, pp 722–728
3. Baker, D R and Wampler II, C W, 1988, “On the Inverse Kinematics of Redundant Mampulatois,”Int J. Robotics Res, Vol 7, No 2, pp 3–21
4. Benhabib, B, Goldenberg, A. A and Fenton, R G, 1985, “A Solution to the Inverse Kinematics of Redundant Manipulators,”J. Robotic Systems, Vol 2, No 4, pp. 373–385
5. Ben-Israel, A and Greville, T N E, 1980, “Generalized Inverse Theory and Applications,”Robert E. Kneger Publishing Co, New York