1. Introduction to Robotics: Mechanics and Control;Craig,1986
2. Model based control of a direct drive arm;An,1988
3. Adaptive manipulator control: a case study;Slotine;IEEE Transactions Automatic Control,1988
4. Application of non-linear friction compensation to robot arm control;Kubo,1986
5. Identification of Coulomb friction in robot drives and other mechanical systems through observation of third harmonic generation;Brookfield,1994