Force control of a two-linke planar manipulator with one flexible link. - B.-O. Choi; K. Krishnamurthy (Robotics Auton. Syst., 1991)

Unconstrained and constrained motion control of a planar two-link structurally flexible robotic manipulator. - B.-O. Choi; K. Krishnamurthy (J. Field Robotics, 1994)