An approach to automatic generation of dynamic equations of elastic joint manipulators in symbolic language. - J. Adongo Ochier; Clementina D. Mladenova; Peter C. Müller 001 (J. Intell. Robotic Syst., 1995)

Control of multi-axis robots with elastic joints via cascade compensation using the method of exact linearization. - J. Adongo Ochier; Peter C. Müller 001 (J. Intell. Robotic Syst., 1996)