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Chahbaz, A., & Hemami, A. (1996, December). Joint velocity compensation for kinematically redundant manipulators [Paper]. 35th IEEE Conference on Decision and Control, Kobe, Japan. External link
Chahbaz, A. (1994). Analyse et développement de la méthode de compensation des vitesses articulaires de robots redondants [Master's thesis, École Polytechnique de Montréal]. Unavailable