On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds

@inproceedings{Burdick1989OnTI,
  title={On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds},
  author={Joel W. Burdick},
  booktitle={ICRA},
  year={1989}
}
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