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ROBOTICA, vol. 16, page. 659 - 667, 1998-11

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, vol. 13, no. 1, page. 41 - 49, 1997-03

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, vol. 10, no. 2, page. 139 - 148, 1995-01

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, vol. 116, no. 3, page. 512 - 520, 1994-09

ROBOTICA, vol. 11, page. 7 - 17, 1993-01