1. Khatib, O., Dynamic control of manipulators in operational space,6th IFTOMM Congress on Theory of Machines and Mechanisms, New Delhi, Dec. 15?20, 1983, pp. 1?10.
2. Yoshikawa, T., Dynamic hybrid position/force control of robot manipulators, description of hand constraints and calculation of joint driving force,Proc. 1986 IEEE Int. Conf. Robot. Automat., San Francisco, CA, Apr. 1986, pp. 1393?1398.
3. Misra, P., Patel, R. V. and Balafoutis, C. A., Robust control of robot manipulators using linearized dynamic models, in M. Jamshidi, J. Y. S. Luh and M. Shahinpoor (eds),Recent Trends in Robotics: Modeling, Control and Education, North-Holland, New York, 1986.
4. Misra, P., Patel, R. V. and Balafoutis, C. A., Robust control of robot manipulators in Cartesian space,Proc. American Control conf., Atlanta, Georgia, June 15?17, 1988, pp. 1351?1356.
5. Spong, M. W., Thorp, J. S. and Kleinwaks, J. M., The control of robot manipulators with bounded input,IEEE Trans. Automat. Control AC-31(6), 483?490 (1986).