Overview
Read the following paper:
Kévin Dufour, Wael Suleiman. "On Integrating Manipulability Index into Inverse Kinematics Solver." 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. doi: 10.1109/IROS.2017.8206621
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