# Hierarchical tracking task control in redundant manipulators with compliance control in the null-space

> Research article (Mechatronics, 2018) · cited 37× · AI/ML

**Wikidata**: [openalex:W2895232265](https://www.wikidata.org/wiki/openalex:W2895232265)  
**Source**: https://4ort.xyz/entity/hierarchical-tracking-task-control-in-redundant-manipulators-with-compliance-control-in-the-null-space