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Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator

Wei Wei Shang, Shuang Cong, Ze Xiang Li, Shi Long Jiang. Augmented Nonlinear PD Controller for a Redundantly Actuated Parallel Manipulator. Advanced Robotics, 23(12-13):1725-1742, 2009. [doi]

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