Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

@article{Chiu2004RobustAM,
  title={Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators},
  author={Chian-Song Chiu and Kuang-Yow Lian and Tsu-Cheng Wu},
  journal={Automatica},
  year={2004},
  volume={40},
  pages={2111-2119}
}
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