@inproceedings{CASE-2006-QiuCS,
	author        = "Changwu Qiu and Qixin Cao and Yijun Sun",
	booktitle     = "{Proceedings of the Second International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2006.326882",
	isbn          = "1-4244-0310-3",
	pages         = "212--217",
	publisher     = "{IEEE}",
	title         = "{Redundant Manipulator Control with Constraints for Subgoals}",
	year          = 2006,
}