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Conference

A real-time approach for singularity avoidance in Resolved Motion Rate Control of Robotic Manipulators

International Conference on Robotics and Automation, page. 1974 - 1978, 2002-05-11

Conference

Algorithmic singularities avoidance in task-priority based controller for redundant manipulators

International Conference Intelligent Robots and System, page. 3570 - 3574, 2003-10-27

Conference

Dynamic Analysis and Two-Time Scale Control for Underwater Vehicle-Manipulator Systems

International Conference Intelligent Robots and System, page. 577 - 582, 2003-10-27

Conference

Dynamic task priority approach to avoid kinematic singularity for autonomous manipulatoin in underwater

International Conference Intelligent Robots and System, page. 1942 - 1947, 2002-10-01

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