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H. Yu, Lakmal D. Seneviratne, S. W. E. Earles. Combined adaptive control of constrained robot manipulators. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993. pages 740-745, IEEE, 1993. [doi]

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