Ki Cheol Park Pyung Hun Chang Seung Ho Kim The Enhanced Compact QP Method for Redundant Manipulators Using Practical Inequality Constraints. 107-114 1998 conf/icra/1998 ICRA db/conf/icra/icra1998-1.html#ParkCK98 http://dx.doi.org/10.1109/ROBOT.1998.676327