1. Controlo adaptativo de posiçàoe de força de robôs manipuladores;Baptista;Phd thesis (in Portuguese). Technical University of Lisbon, Department of Mechanical Engineering,2000
2. An experimental testbed for position and force control of robotic manipulators;Baptista,1998
3. Chiaverini, S., B. Siciliano and L. Villani (1996). Parallel force/position control schemes with experiments on an industrial manipulator. In: Proceedings of The IFAC 13th Triennial World Congress. San Francisco, USA. pp. 25-30.
4. Costescu, N. and D.M. Dawson (1998). Qmotor 2.0-A PC based real-time multitasking graphical control environment. In: Proceedings of The American Control Conference. Philadelphia, USA. pp. 1266-1270.
5. Theory of robot control;de Witt,1997