Daniele Casagrande, Gianfranco Fenu, Felice Andrea Pellegrino, Alessandro Astolfi. Application of Hamiltonian dynamics to manipulator control in constrained workspace. In Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, December 10-13, 2013, Firenze, Italy. pages 1634-1639, IEEE, 2013. [doi]
Abstract is missing.