References
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.. [BenIsrael2003] Adi Ben-Israel and Thomas N. E. Greville, "*Generalized Inverses: Theory and Applications*", Second Edition, Springer, 2003.

.. [Chiaverini1991] Stefano Chiaverini, Olav Egeland and Rakel K. Kanestrøm, "*Achieving user-defined accuracy with damped least-squares inverse kinematics*", in International Conference on Advanced Robotics (ICAR), 1991.

.. [Golub2013] Gene H. Golub and Charles F. Van Load, "*Matrix Computations*", Fourth Edition, The Johns Hopkins University Press, 2013.

.. [Nocedal2006] Jorge Nocedal and Stephen J. Wright, "*Numerical Optimization*", Second Edition, Springer, 2006.

.. [Press1992] William H. Press, Saul A. Teukolsky, William T. Vetterling and Brian P. Flannery, "*Numerical Recipes in C: The Art of Scientific Computing*", 2nd. edition, Cambridge University Press, 1992.