@article{freitas_leite_lizarralde_2011,  title={Kinematic control of constrained robotic systems},  volume={22},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592011000600002},  DOI={10.1590/S0103-17592011000600002},  number={6},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Freitas, Gustavo M. and Leite, Antonio C. and Lizarralde, Fernando},  year={2011},  month={Nov},  pages={559–572} }