Modeling and control of robot manipulators: L. Sciavicco and B. Siciliano; Springer, Berlin, 2000, ISBN: 1-85233-221-2

Jae Y. Lew. Modeling and control of robot manipulators: L. Sciavicco and B. Siciliano; Springer, Berlin, 2000, ISBN: 1-85233-221-2. Automatica, 38(7):1261-1263, 2002. [doi]

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