References

[Samson1991]

Robot control: the task function approach. C. Samson, B. Espiau and M. Le Borgne. Oxford University Press, 1991.

[Sugihara2011]

Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method. T. Sugihara. IEEE transactions on robotics, 2011, vol. 27, no 5, pp. 984-991.

[Flacco2015]

Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space. F. Flacco, A. De Luca and O. Khatib. IEEE Transactions on Robotics, 2015, vol. 31, no 3, pp. 637-654.

[DelPrete2018]

Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. A. Del Prete. IEEE Robotics and Automation Letters, 2018, vol. 3, no 1, pp. 281-288.

[Sola2018]

A micro Lie theory for state estimation in robotics. J. Solà, J. Deray, D. Atchuthan. 2018.

[Caron2023]

Jacobian of a kinematic task and derivatives on manifolds. S. Caron. 2023.