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Controllability and Observability of an n-Link Planar Robot with a Single Actuator Having Different Actuator-Sensor Configurations

Yannian Liu, Xin Xin. Controllability and Observability of an n-Link Planar Robot with a Single Actuator Having Different Actuator-Sensor Configurations. IEEE Trans. Automat. Contr., 61(4):1129-1134, 2016. [doi]

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