1. M. Spong, Control of flexible joint robots: a survey, Coordinated Sci. Lab., Urbana, IL, USA, Tech. Rep. UILU-ENG 90–2203, 1990
2. Adaptive control of flexible joint manipulators;Ghorbel;IEEE Control Syst. Mag.,1989
3. Neuro-adaptive observer based control of flexible joint robot;Liu;Neurocomputing,2018
4. A. de Luca and P. Lucibello, A general algorithm for dynamic feedback linearization of robots with elastic joints, in: Proc. IEEE Int. Conf. Robot. Autom., Leuven, Belgium, pp. 504-510, May 1998.
5. S. Moberg, Modeling and control of flexible manipulators, Ph.D. dissertation,, Dept. Electr. Eng., Linkőping Univ., Linkoping, Sweden, 2010.