@article {Slotine1987,
	title = {{An inverse kinematic algorthim for manipulators with redundant degrees of freedom}},
	journal = {International Journal of Robotics and Automation},
	volume = {2},
	number = {2},
	year = {1987},
	pages = {86{\textendash}89},
	issn = {0826-8185},
	author = {Slotine, J J E and Yoerger, D R}
}
