# Velocity‐layer Zhang equivalency for time‐varying joint limits avoidance of redundant robot manipulator

> Research article (IET Control Theory and Applications, 2022) · cited 12× · AI/ML

**Wikidata**: [openalex:W4300003391](https://www.wikidata.org/wiki/openalex:W4300003391)  
**Source**: https://4ort.xyz/entity/velocitylayer-zhang-equivalency-for-timevarying-joint-limits-avoidance-of-redundant-robot-manipulator