Kazuo Tanie, Kazuhito Yokoi, Makoto Kaneko, Toshio Fukuda. A position sensor based torque control method for a DC motor with reduction gears. In Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, USA, April 24-29, 1988. pages 1867-1870, IEEE, 1988. [doi]
Abstract is missing.