# Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 17× · AI/ML

**Wikidata**: [openalex:W4383109083](https://www.wikidata.org/wiki/openalex:W4383109083)  
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