Hirohiko Arai, Susumu Tachi. Position control of manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics, 7(4):528-534, 1991. [doi]
@article{AraiT91,
title = {Position control of manipulator with passive joints using dynamic coupling},
author = {Hirohiko Arai and Susumu Tachi},
year = {1991},
doi = {10.1109/70.86082},
url = {http://dx.doi.org/10.1109/70.86082},
researchr = {https://researchr.org/publication/AraiT91},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {7},
number = {4},
pages = {528-534},
}