1. Cartesian Controller's Evaluation in Joint Space;2006 IEEE/RSJ International Conference on Intelligent Robots and Systems;2006-10
2. New control structure in Cartesian space;2006 International Conference on Mechatronics and Automation;2006-06
3. Polynomial family of PD-type controllers for robot manipulators;Control Engineering Practice;2005-04
4. Manipulator velocity control using friction compensation;IEE Proceedings - Control Theory and Applications;2003-03-01
5. Velocity control of robot manipulators: Analysis and experiments;International Journal of Control;2003-01