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Rafael Kelly, Javier Moreno, Fermín Pérez. Manipulator motion control in operational space using joint velocity inner loops. In 40th IEEE Conference on Decision and Control, CDC 2001, Orlando, FL, USA, 4-7 Dec., 2001. pages 2416-2417, IEEE, 2001. [doi]

The following publications are possibly variants of this publication:

Manipulator motion control in operational space using joint velocity inner loopsRafael Kelly, Javier Moreno. automatica, 41(8):1423-1432, 2005. [doi]

On the operational space control of industrial robots using their own joint velocity PI controllersKarla Camarillo, Ricardo Campa, Víctor Santibáñez, Javier Moreno. cdc 2007: 5773-5778 [doi]

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