Adaptive self-tuning control of manipulators in task coordinate system. - Chun-Hsien Chung; Gary G. Leininger (ICRA, 1984)

Real-time cartesian coordinate hybrid control of a PUMA 560 manipulator. - Paul G. Backes; Gary G. Leininger; Chun-Hsien Chung (ICRA, 1985)