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Characteristics of optimal solutions in resolving manipulator redundancy under inequality constraints

Park Ki-Cheol; Chang Pyung-Hun; Kim Seung-Ho, 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', v.1, pp.442 - 447, IEEE, 1999-10-17

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