Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution.

Masayuki Shimizu H. Kakuya Woo-Keun Yoon Kosei Kitagaki Kazuhiro Kosuge Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution. 1131-1142 2008 24 IEEE Transactions on Robotics 5 http://dx.doi.org/10.1109/TRO.2008.2003266 db/journals/trob/trob24.html#ShimizuKYKK08