JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, vol. 119, no. 1, page. 19 - 26, 1997-03
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, vol. 10, no. 2, page. 139 - 148, 1995-01
ROBOTICA, vol. 11, page. 7 - 17, 1993-01