@ARTICLE{5762640, author={P. Falco and C. Natale}, journal={IEEE
Transactions on Robotics}, title={On the Stability of Closed-Loop
Inverse Kinematics Algorithms for Redundant Robots}, year={2011},
volume={27}, number={4}, pages={780-784}, keywords={closed loop
systems;convergence;discrete time systems;estimation theory;Lyapunov
methods;redundant manipulators;robot
kinematics;stability;time-domain analysis;stability;closed-loop
inverse kinematics algorithms;redundant robots;convergence
analysis;classical inverse kinematics algorithms;continuous-time
domain;neglecting limits;discrete-time domain;region of attraction
estimation;Lyapunov arguments;task space error;degree-of-freedom
manipulator;Kinematics;Robot kinematics;Jacobian
matrices;Convergence;Stability analysis;Heuristic algorithms;Inverse
kinematics (IK);redundant robots;stability proof},
doi={10.1109/TRO.2011.2135210}, ISSN={1552-3098}, month={Aug},}