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Inverse kinematics and control of a 7-DOF redundant manipulator based on the closed-loop Algorithm Journal article
International Journal of Advanced Robotic Systems, 2010,Volume: 7,Issue: 4,Page: 1
Authors:  Wang J.;  Li Y.;  Zhao X.
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Closed-loop algorithm  Inverse kinematics  Joint limit avoidance  Null space  Redundant manipulator