# Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space

> Research article (IEEE Transactions on Robotics, 2015) · cited 214× · AI/ML

**Wikidata**: [openalex:W1964649988](https://www.wikidata.org/wiki/openalex:W1964649988)  
**Source**: https://4ort.xyz/entity/control-of-redundant-robots-under-hard-joint-constraints-saturation-in-the-null-space