PD Control with Desired Gravity Compensation of Robotic Manipulators: A Review

@article{Kelly1997PDCW,
  title={PD Control with Desired Gravity Compensation of Robotic Manipulators: A Review},
  author={Rafael Kelly},
  journal={I. J. Robotics Res.},
  year={1997},
  volume={16},
  pages={660-672}
}
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